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Copter: let GCS base class handle fence sys_status bits

This commit is contained in:
Peter Barker 2019-08-29 19:26:24 +10:00 committed by Andrew Tridgell
parent 9da0efaaef
commit ab7b4616ff
1 changed files with 0 additions and 16 deletions
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16
ArduCopter/GCS_Copter.cpp
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@ -70,11 +70,6 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY; control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
} }
#endif #endif
#if AC_FENCE == ENABLED
if (copter.fence.sys_status_present()) {
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
}
#endif
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
const RangeFinder *rangefinder = RangeFinder::get_singleton(); const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) { if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
@ -112,11 +107,6 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
break; break;
} }
#if AC_FENCE == ENABLED
if (copter.fence.sys_status_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
}
#endif
#if PROXIMITY_ENABLED == ENABLED #if PROXIMITY_ENABLED == ENABLED
if (copter.g2.proximity.sensor_enabled()) { if (copter.g2.proximity.sensor_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
@ -176,10 +166,4 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
} }
} }
#endif #endif
#if AC_FENCE == ENABLED
if (!copter.fence.sys_status_failed()) {
control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
}
#endif
} }