From a0fb426a346998cfb3d0ad17b249a2fb4d76154f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 10 Aug 2016 08:27:51 +1000
Subject: [PATCH] Plane: fixes for Fraky_Telem API changes

---
 ArduPlane/GCS_Mavlink.cpp | 6 ++++++
 ArduPlane/system.cpp      | 6 +++++-
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index bedf3871ff..7e6bf5dd53 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -344,6 +344,12 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
         0, // comm drops %,
         0, // comm drops in pkts,
         0, 0, 0, 0);
+
+#if FRSKY_TELEM_ENABLED == ENABLED
+    // give mask of error flags to Frsky_Telemetry
+    uint32_t sensors_error_flags = (control_sensors_health ^ control_sensors_enabled) & control_sensors_present;
+    frsky_telemetry.update_sensor_status_flags(sensors_error_flags);
+#endif
 }
 
 void Plane::send_location(mavlink_channel_t chan)
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 344022af4c..9d0ad35c9f 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -160,7 +160,7 @@ void Plane::init_ardupilot()
     // setup frsky
 #if FRSKY_TELEM_ENABLED == ENABLED
     // setup frsky, and pass a number of parameters to the library
-    frsky_telemetry.init(serial_manager, (uint8_t *)&control_mode);
+    frsky_telemetry.init(serial_manager);
 #endif
 
     mavlink_system.sysid = g.sysid_this_mav;
@@ -356,6 +356,10 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
     previous_mode_reason = control_mode_reason;
     control_mode_reason = reason;
 
+#if FRSKY_TELEM_ENABLED == ENABLED
+    frsky_telemetry.update_control_mode(control_mode);
+#endif
+    
     if (previous_mode == AUTOTUNE && control_mode != AUTOTUNE) {
         // restore last gains
         autotune_restore();