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Sub: fix absolute pressure sensor present flag

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dheideman 2017-07-19 14:16:46 -07:00 committed by Jacob Walser
parent 6265436186
commit 48c84a7570
1 changed files with 5 additions and 2 deletions
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7
ArduSub/GCS_Mavlink.cpp
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@ -3,8 +3,8 @@
#include "GCS_Mavlink.h"
// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS)
// default sensors are present and healthy: gyro, accelerometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS)
void Sub::gcs_send_heartbeat(void)
{
@ -117,6 +117,9 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
if (g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
if (ap.depth_sensor_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}