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Plane: fixes for Fraky_Telem API changes

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This commit is contained in:
Andrew Tridgell 2016-08-10 08:27:51 +10:00
parent a14ff8ac77
commit a0fb426a34
2 changed files with 11 additions and 1 deletions
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6
ArduPlane/GCS_Mavlink.cpp
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@ -344,6 +344,12 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
0, // comm drops %, 0, // comm drops %,
0, // comm drops in pkts, 0, // comm drops in pkts,
0, 0, 0, 0); 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) void Plane::send_location(mavlink_channel_t chan)

6
ArduPlane/system.cpp
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@ -160,7 +160,7 @@ void Plane::init_ardupilot()
// setup frsky // setup frsky
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky, and pass a number of parameters to the library // 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 #endif
mavlink_system.sysid = g.sysid_this_mav; 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; previous_mode_reason = control_mode_reason;
control_mode_reason = 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) { if (previous_mode == AUTOTUNE && control_mode != AUTOTUNE) {
// restore last gains // restore last gains
autotune_restore(); autotune_restore();