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Rover: move setting of GPS SYS_STATUS bits up to base class

This commit is contained in:
Peter Barker 2019-11-08 17:59:07 +11:00 committed by Andrew Tridgell
parent b48da34c61
commit 49f26f08e1
1 changed files with 0 additions and 8 deletions
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8
APMrover2/GCS_Rover.cpp
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@ -23,11 +23,6 @@ bool GCS_Rover::supersimple_input_active() const
void GCS_Rover::update_vehicle_sensor_status_flags(void) void GCS_Rover::update_vehicle_sensor_status_flags(void)
{ {
// first what sensors/controllers we have // first what sensors/controllers we have
const AP_GPS &gps = AP::gps();
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_GPS;
}
const AP_VisualOdom *visual_odom = AP::visualodom(); const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) { if (visual_odom && visual_odom->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
@ -58,9 +53,6 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
} }
if (gps.is_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) { if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
} }