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GCS_MAVLink: report airspeed unhealthy when being rejected

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this gives the pilot feedback on airspeed failing EKF innnovation
checks and switching to synthetic airspeed
This commit is contained in:
Andrew Tridgell 2022-01-26 17:37:29 +11:00
parent aab0c31385
commit ab8c40d9bc
1 changed files with 4 additions and 2 deletions
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6
libraries/GCS_MAVLink/GCS.cpp
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@ -269,10 +269,12 @@ void GCS::update_sensor_status_flags()
const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed && airspeed->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
if (airspeed->use()) {
const bool use = airspeed->use();
const bool enabled = AP::ahrs().airspeed_sensor_enabled();
if (use) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
if (airspeed->all_healthy()) {
if (airspeed->all_healthy() && (!use || enabled)) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
}