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GCS_MAVLink: show rangefinder status in SYS_STATUS

This commit is contained in:
Andrew Tridgell 2014-11-14 15:34:36 +11:00
parent 682cf02770
commit 8bcbce16ed
1 changed files with 10 additions and 0 deletions
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10
ArduPlane/GCS_Mavlink.pde
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@ -265,6 +265,16 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
}
#endif
if (rangefinder.num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (g.rangefinder_landing) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
if (rangefinder.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
mavlink_msg_sys_status_send(
chan,
control_sensors_present,