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Rover: report INS health

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This commit is contained in:
Andrew Tridgell 2013-10-30 09:02:16 +11:00
parent 8a65a729f3
commit 9748e72b3e
1 changed files with 3 additions and 0 deletions
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3
APMrover2/GCS_Mavlink.pde
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@ -161,6 +161,9 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) { if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
} }
if (!ins.healthy()) {
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
}
int16_t battery_current = -1; int16_t battery_current = -1;
int8_t battery_remaining = -1; int8_t battery_remaining = -1;