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

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Peter Barker 2019-11-08 17:59:48 +11:00 committed by Andrew Tridgell
parent 3547e74991
commit 526adee814
1 changed files with 0 additions and 8 deletions
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8
ArduSub/GCS_Sub.cpp
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@ -24,11 +24,6 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
control_sensors_enabled |= 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 #if OPTFLOW == ENABLED
const OpticalFlow *optflow = AP::opticalflow(); const OpticalFlow *optflow = AP::opticalflow();
if (optflow && optflow->enabled()) { if (optflow && optflow->enabled()) {
@ -61,9 +56,6 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
if (sub.sensor_health.depth) { if (sub.sensor_health.depth) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; 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 == ENABLED
if (optflow && optflow->healthy()) { if (optflow && optflow->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;