From 4a06941a390bd00c8595e0bd0af8ae4190cce7c1 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 1 Sep 2014 20:22:18 +0900 Subject: [PATCH] Copter: individual accel and gyro status to GCS --- ArduCopter/GCS_Mavlink.pde | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index b1728e46ab..8de62a6c13 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/GCS_Mavlink.pde @@ -199,8 +199,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan) if (ap.rc_receiver_present && !failsafe.radio) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; } - if (!ins.healthy()) { - control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL); + if (!ins.get_gyro_health_all()) { + control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO; + } + if (!ins.get_accel_health_all()) { + control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL; } if (!ahrs.healthy()) {