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ArduPlane: move setting of MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW sensors flags up

This commit is contained in:
Peter Barker 2022-10-19 14:35:27 +11:00 committed by Peter Barker
parent 6e25a3d52c
commit b741b9e76e
1 changed files with 0 additions and 11 deletions
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11
ArduPlane/GCS_Plane.cpp
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@ -98,17 +98,6 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
}
#if AP_OPTICALFLOW_ENABLED
const AP_OpticalFlow *optflow = AP::opticalflow();
if (optflow && optflow->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
if (optflow && optflow->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
uint32_t last_valid = plane.failsafe.last_valid_rc_ms;