From 8de4ee734852f91c947953dbb522c866a9fd0743 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Feb 2019 12:59:00 +1100
Subject: [PATCH] GCS_MAVLink: move update_sensor_status_flags into GCS
 subclasses

---
 libraries/GCS_MAVLink/GCS.cpp     | 11 +++++++++++
 libraries/GCS_MAVLink/GCS.h       |  9 ++++++++-
 libraries/GCS_MAVLink/GCS_Dummy.h |  2 +-
 3 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 511058568f..21ba31320e 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -2,6 +2,17 @@
 
 extern const AP_HAL::HAL& hal;
 
+void GCS::get_sensor_status_flags(uint32_t &present,
+                                  uint32_t &enabled,
+                                  uint32_t &health)
+{
+    update_sensor_status_flags();
+
+    present = control_sensors_present;
+    enabled = control_sensors_enabled;
+    health = control_sensors_health;
+}
+
 /*
   send a text message to all GCS
  */
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 0d9de7e201..cd2eda97a2 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -774,7 +774,14 @@ public:
     // update uart pass-thru
     void update_passthru();
 
-    virtual void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) = 0;
+    void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health);
+
+protected:
+
+    uint32_t control_sensors_present;
+    uint32_t control_sensors_enabled;
+    uint32_t control_sensors_health;
+    virtual void update_sensor_status_flags(void) = 0;
 
 private:
 
diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
index 1a45d14763..20d9e138bb 100644
--- a/libraries/GCS_MAVLink/GCS_Dummy.h
+++ b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -54,5 +54,5 @@ class GCS_Dummy : public GCS
 
     void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) { hal.console->printf("TOGCS: %s\n", text); }
 
-    void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) override { present = 0; enabled = 0; health = 0; }
+    void update_sensor_status_flags(void) override {};
 };