mirror of https://github.com/ArduPilot/ardupilot
Copter: let GCS base class handle fence sys_status bits
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@ -70,11 +70,6 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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}
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#endif
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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const RangeFinder *rangefinder = RangeFinder::get_singleton();
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if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
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@ -112,11 +107,6 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
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break;
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}
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#if AC_FENCE == ENABLED
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if (copter.fence.sys_status_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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#if PROXIMITY_ENABLED == ENABLED
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if (copter.g2.proximity.sensor_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
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@ -176,10 +166,4 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
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}
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}
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#endif
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#if AC_FENCE == ENABLED
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if (!copter.fence.sys_status_failed()) {
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control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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}
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