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Plane: report baro health to GCS

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This commit is contained in:
Randy Mackay 2014-08-13 14:00:19 +09:00
parent 1e374ab42b
commit b619c3956c
1 changed files with 6 additions and 3 deletions
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9
ArduPlane/GCS_Mavlink.pde
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@ -205,8 +205,9 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
break; break;
} }
// default: all present sensors healthy except 3D_MAG, GPS, DIFFERNTIAL_PRESSURE. GEOFENCE always defaults to healthy. // default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE. GEOFENCE always defaults to healthy.
control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_3D_MAG | control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
MAV_SYS_STATUS_SENSOR_3D_MAG |
MAV_SYS_STATUS_SENSOR_GPS | MAV_SYS_STATUS_SENSOR_GPS |
MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE); MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
control_sensors_health |= MAV_SYS_STATUS_GEOFENCE; control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
@ -215,7 +216,9 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
// AHRS subsystem is unhealthy // AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS; control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
} }
if (barometer.healthy) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) { if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
} }