From 526adee814702d8cc4962d87b5971f56dd22078d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 Nov 2019 17:59:48 +1100 Subject: [PATCH] Sub: move setting of GPS SYS_STATUS bits up to base class --- ArduSub/GCS_Sub.cpp | 8 -------- 1 file changed, 8 deletions(-) diff --git a/ArduSub/GCS_Sub.cpp b/ArduSub/GCS_Sub.cpp index 1b25b10242..4eab435095 100644 --- a/ArduSub/GCS_Sub.cpp +++ b/ArduSub/GCS_Sub.cpp @@ -24,11 +24,6 @@ void GCS_Sub::update_vehicle_sensor_status_flags() control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; } - 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; - } #if OPTFLOW == ENABLED const OpticalFlow *optflow = AP::opticalflow(); if (optflow && optflow->enabled()) { @@ -61,9 +56,6 @@ void GCS_Sub::update_vehicle_sensor_status_flags() if (sub.sensor_health.depth) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; } - if (gps.is_healthy()) { - control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; - } #if OPTFLOW == ENABLED if (optflow && optflow->healthy()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;