Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLINK: mag health reported in SYS_STATUS should not depend on AHRS use

Browse Source 
When using external yaw, EKF3 always reports use_compass as false,
which causes the GCS to get a bad compass health message.

thanks to Argosdyne for reporting
This commit is contained in:
Andrew Tridgell 2021-05-12 12:29:40 +10:00 committed by Randy Mackay
parent f8a59a4a72
commit 45daff9f47
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/GCS_MAVLink/GCS.cpp
View File

@ -150,7 +150,7 @@ void GCS::update_sensor_status_flags()
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (compass.enabled() && compass.healthy() && ahrs.use_compass()) {
if (compass.enabled() && compass.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}