From 6a32afcd72a1a6f3b7810a087a8dd5c5cf8688f4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Apr 2021 13:55:53 +1000
Subject: [PATCH] ArduPlane: tidy setting of sensor status flags

---
 ArduPlane/GCS_Plane.cpp | 40 +++++++++++++++++++---------------------
 1 file changed, 19 insertions(+), 21 deletions(-)

diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp
index 6f8d5e8abf..e85be23603 100644
--- a/ArduPlane/GCS_Plane.cpp
+++ b/ArduPlane/GCS_Plane.cpp
@@ -8,27 +8,28 @@ uint8_t GCS_Plane::sysid_this_mav() const
 
 void GCS_Plane::update_vehicle_sensor_status_flags(void)
 {
-    // first what sensors/controllers we have
+    // airspeed
     const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
     if (airspeed && airspeed->enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
     }
-#if OPTFLOW == ENABLED
-    const OpticalFlow *optflow = AP::opticalflow();
-    if (optflow && optflow->enabled()) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
-    }
-#endif
-
-    if (plane.have_reverse_thrust()) {
-        control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
-    }
-
     if (airspeed && airspeed->enabled() && airspeed->use()) {
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
     }
+    if (airspeed && airspeed->all_healthy()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
+    }
 
+    // reverse thrust
+    if (plane.have_reverse_thrust()) {
+        control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
+    }
+    if (plane.have_reverse_thrust() && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) {
+        control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
+        control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
+    }
+
+    // flightmode-specific
     control_sensors_present |=
         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
@@ -101,13 +102,15 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
     }
 
 #if OPTFLOW == ENABLED
+    const OpticalFlow *optflow = AP::opticalflow();
+    if (optflow && optflow->enabled()) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
+    }
     if (optflow && optflow->healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
     }
 #endif
-    if (airspeed && airspeed->all_healthy()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
-    }
 
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
@@ -141,9 +144,4 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;            
         }
     }
-
-    if (plane.have_reverse_thrust() && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) {
-        control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
-        control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
-    }
 }