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GCS_MAVLink: correct sensors when no baros found

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GCSs will know we have no baros on-board, as will the RC telemetry library
This commit is contained in:
Peter Barker 2023-09-18 18:48:01 +10:00
parent f2dcb1cbf0
commit b68820a1b6
1 changed files with 6 additions and 4 deletions
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10
libraries/GCS_MAVLink/GCS.cpp
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@ -177,10 +177,12 @@ void GCS::update_sensor_status_flags()
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BARO) #if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BARO)
const AP_Baro &barometer = AP::baro(); const AP_Baro &barometer = AP::baro();
control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; if (barometer.num_instances() > 0) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
if (barometer.all_healthy()) { control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; if (barometer.all_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
} }
#endif #endif