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Copter: fixes for Frsky_Telem API changes

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This commit is contained in:
Andrew Tridgell 2016-08-10 08:27:47 +10:00
parent 203e0c7472
commit a14ff8ac77
4 changed files with 16 additions and 6 deletions
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5
ArduCopter/Copter.h
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@ -424,11 +424,6 @@ private:
AP_Frsky_Telem frsky_telemetry;
#endif
// Variables for extended status MAVLink messages
uint32_t control_sensors_present;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
// Altitude
// The cm/s we are moving up or down based on filtered data - Positive = UP
int16_t climb_rate;

10
ArduCopter/GCS_Mavlink.cpp
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@ -130,6 +130,10 @@ NOINLINE void Copter::send_limits_status(mavlink_channel_t chan)
NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
{
uint32_t control_sensors_present;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
@ -291,6 +295,12 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
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 NOINLINE Copter::send_location(mavlink_channel_t chan)

5
ArduCopter/flight_mode.cpp
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@ -136,6 +136,11 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.update_control_mode(control_mode);
#endif
}else{
// Log error that we failed to enter desired flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);

2
ArduCopter/system.cpp
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@ -171,7 +171,7 @@ void Copter::init_ardupilot()
#else
#error Unrecognised frame type
#endif
&g.fs_batt_voltage, &g.fs_batt_mah, (uint8_t *)&control_mode, &ap.value, &control_sensors_present, &control_sensors_enabled, &control_sensors_health, &home_distance, &home_bearing);
&g.fs_batt_voltage, &g.fs_batt_mah, &ap.value, &home_distance, &home_bearing);
#endif
// identify ourselves correctly with the ground station