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Rover: gyro health check uses initialised flag

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We should not be relying on the notify flags as a way to pass info around the system.  Rover's initialised flag is equivalent and more appropriate.
This commit is contained in:
Randy Mackay 2017-12-15 14:45:50 +09:00
parent a8da459baf
commit 6459a4de9d
1 changed files with 1 additions and 1 deletions
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2
APMrover2/sensors.cpp
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@ -362,7 +362,7 @@ void Rover::update_sensor_status_flags(void)
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
if (AP_Notify::flags.initialising) {
if (!initialised || ins.calibrating()) {
// while initialising the gyros and accels are not enabled
control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);