mirror of https://github.com/ArduPilot/ardupilot
Plane: update sensor status error flags independently of sending a sys_status message
This commit is contained in:
floaledm
Andrew Tridgell
parent
1aab5eec38
commit
bae9ce20c1
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@ -357,6 +357,12 @@ void Plane::one_second_loop()
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// reset the landing altitude correction
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auto_state.land_alt_offset = 0;
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}
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// update error mask of sensors and subsystems. The mask uses the
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// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
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// indicates that the sensor or subsystem is present but not
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// functioning correctly
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update_sensor_status_flags();
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}
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void Plane::log_perf_info()
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@ -3,9 +3,6 @@
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#include "Plane.h"
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#include "version.h"
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// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_RC_RECEIVER)
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void Plane::send_heartbeat(mavlink_channel_t chan)
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{
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uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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@ -124,165 +121,6 @@ void Plane::send_fence_status(mavlink_channel_t chan)
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void Plane::send_extended_status1(mavlink_channel_t chan)
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{
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uint32_t control_sensors_present;
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_health;
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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if (airspeed.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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if (geofence_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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if (aparm.throttle_min < 0) {
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control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
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}
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if (plane.DataFlash.logging_present()) { // primary logging only (usually File)
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control_sensors_present |= MAV_SYS_STATUS_LOGGING;
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}
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// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control, geofence and motor output which we will set individually
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & ~MAV_SYS_STATUS_SENSOR_YAW_POSITION & ~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_GEOFENCE & ~MAV_SYS_STATUS_LOGGING);
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if (airspeed.enabled() && airspeed.use()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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if (geofence_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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if (plane.DataFlash.logging_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
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}
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switch (control_mode) {
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case MANUAL:
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break;
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case ACRO:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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break;
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case STABILIZE:
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case FLY_BY_WIRE_A:
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case AUTOTUNE:
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case QSTABILIZE:
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case QHOVER:
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case QLAND:
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case QLOITER:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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break;
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case FLY_BY_WIRE_B:
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case CRUISE:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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break;
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case TRAINING:
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if (!training_manual_roll || !training_manual_pitch) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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}
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break;
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case AUTO:
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case RTL:
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case LOITER:
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case AVOID_ADSB:
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case GUIDED:
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case CIRCLE:
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case QRTL:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; // altitude control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
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break;
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case INITIALISING:
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break;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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// default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE. GEOFENCE always defaults to healthy.
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control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
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MAV_SYS_STATUS_SENSOR_3D_MAG |
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MAV_SYS_STATUS_SENSOR_GPS |
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MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
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control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (ahrs.have_inertial_nav() && !ins.accel_calibrated_ok_all()) {
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// trying to use EKF without properly calibrated accelerometers
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (barometer.all_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow.healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (airspeed.healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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#if GEOFENCE_ENABLED
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if (geofence_breached()) {
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control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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if (plane.DataFlash.logging_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
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}
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if (millis() - failsafe.last_valid_rc_ms < 200) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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} else {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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int16_t battery_current = -1;
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int8_t battery_remaining = -1;
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@ -291,45 +129,8 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
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battery_current = battery.current_amps() * 100;
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}
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#if AP_TERRAIN_AVAILABLE
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switch (terrain.status()) {
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case AP_Terrain::TerrainStatusDisabled:
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break;
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case AP_Terrain::TerrainStatusUnhealthy:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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break;
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case AP_Terrain::TerrainStatusOK:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
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break;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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if (rangefinder.num_sensors() > 0) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (g.rangefinder_landing) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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if (rangefinder.has_data()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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}
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#endif
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if (aparm.throttle_min < 0 && channel_throttle->get_servo_out() < 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
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control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
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}
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if (AP_Notify::flags.initialising) {
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// while initialising the gyros and accels are not enabled
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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}
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update_sensor_status_flags();
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mavlink_msg_sys_status_send(
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chan,
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control_sensors_present,
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@ -342,12 +143,6 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
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0, // comm drops %,
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0, // comm drops in pkts,
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0, 0, 0, 0);
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#if FRSKY_TELEM_ENABLED == ENABLED
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// give mask of error flags to Frsky_Telemetry
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uint32_t sensors_error_flags = (~control_sensors_health) & control_sensors_enabled & control_sensors_present;
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frsky_telemetry.update_sensor_status_flags(sensors_error_flags);
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#endif
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}
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void Plane::send_location(mavlink_channel_t chan)
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@ -2,6 +2,9 @@
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#include <GCS_MAVLink/GCS.h>
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// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_RC_RECEIVER)
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class GCS_MAVLINK_Plane : public GCS_MAVLINK
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{
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@ -423,6 +423,11 @@ private:
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AP_Frsky_Telem frsky_telemetry {ahrs, battery, rangefinder};
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#endif
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// Variables for extended status MAVLink messages
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uint32_t control_sensors_present;
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_health;
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// Airspeed Sensors
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AP_Airspeed airspeed;
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@ -824,6 +829,7 @@ private:
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void send_heartbeat(mavlink_channel_t chan);
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void send_attitude(mavlink_channel_t chan);
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void send_fence_status(mavlink_channel_t chan);
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void update_sensor_status_flags(void);
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void send_extended_status1(mavlink_channel_t chan);
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void send_location(mavlink_channel_t chan);
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void send_nav_controller_output(mavlink_channel_t chan);
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@ -170,3 +170,207 @@ void Plane::ice_update(void)
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{
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g2.ice_control.update();
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}
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// update error mask of sensors and subsystems. The mask
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// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
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// then it indicates that the sensor or subsystem is present but
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// not functioning correctly.
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void Plane::update_sensor_status_flags(void)
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{
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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if (airspeed.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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if (geofence_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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if (aparm.throttle_min < 0) {
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control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
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}
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if (plane.DataFlash.logging_present()) { // primary logging only (usually File)
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control_sensors_present |= MAV_SYS_STATUS_LOGGING;
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}
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// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control, geofence and motor output which we will set individually
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & ~MAV_SYS_STATUS_SENSOR_YAW_POSITION & ~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_GEOFENCE & ~MAV_SYS_STATUS_LOGGING);
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if (airspeed.enabled() && airspeed.use()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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if (geofence_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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if (plane.DataFlash.logging_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
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}
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switch (control_mode) {
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case MANUAL:
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break;
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case ACRO:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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break;
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case STABILIZE:
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case FLY_BY_WIRE_A:
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case AUTOTUNE:
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case QSTABILIZE:
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case QHOVER:
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case QLAND:
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case QLOITER:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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break;
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case FLY_BY_WIRE_B:
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case CRUISE:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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break;
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case TRAINING:
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if (!training_manual_roll || !training_manual_pitch) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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}
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break;
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case AUTO:
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case RTL:
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case LOITER:
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case AVOID_ADSB:
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case GUIDED:
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case CIRCLE:
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case QRTL:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; // altitude control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
|
||||
break;
|
||||
|
||||
case INITIALISING:
|
||||
break;
|
||||
}
|
||||
|
||||
// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
|
||||
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
|
||||
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
|
||||
}
|
||||
|
||||
// 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_ABSOLUTE_PRESSURE |
|
||||
MAV_SYS_STATUS_SENSOR_3D_MAG |
|
||||
MAV_SYS_STATUS_SENSOR_GPS |
|
||||
MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
|
||||
control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
|
||||
|
||||
if (ahrs.initialised() && !ahrs.healthy()) {
|
||||
// AHRS subsystem is unhealthy
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
|
||||
}
|
||||
if (ahrs.have_inertial_nav() && !ins.accel_calibrated_ok_all()) {
|
||||
// trying to use EKF without properly calibrated accelerometers
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
|
||||
}
|
||||
|
||||
if (barometer.all_healthy()) {
|
||||
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
|
||||
}
|
||||
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
|
||||
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
|
||||
}
|
||||
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
|
||||
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
|
||||
}
|
||||
#if OPTFLOW == ENABLED
|
||||
if (optflow.healthy()) {
|
||||
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
|
||||
}
|
||||
#endif
|
||||
if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
|
||||
}
|
||||
if (!ins.get_accel_health_all()) {
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
|
||||
}
|
||||
if (airspeed.healthy()) {
|
||||
control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
|
||||
}
|
||||
#if GEOFENCE_ENABLED
|
||||
if (geofence_breached()) {
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (plane.DataFlash.logging_failed()) {
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
|
||||
}
|
||||
|
||||
if (millis() - failsafe.last_valid_rc_ms < 200) {
|
||||
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
|
||||
} else {
|
||||
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
|
||||
}
|
||||
|
||||
#if AP_TERRAIN_AVAILABLE
|
||||
switch (terrain.status()) {
|
||||
case AP_Terrain::TerrainStatusDisabled:
|
||||
break;
|
||||
case AP_Terrain::TerrainStatusUnhealthy:
|
||||
control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
|
||||
control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
|
||||
break;
|
||||
case AP_Terrain::TerrainStatusOK:
|
||||
control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
|
||||
control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
|
||||
control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if RANGEFINDER_ENABLED == ENABLED
|
||||
if (rangefinder.num_sensors() > 0) {
|
||||
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
|
||||
if (g.rangefinder_landing) {
|
||||
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
|
||||
}
|
||||
if (rangefinder.has_data()) {
|
||||
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
if (aparm.throttle_min < 0 && channel_throttle->get_servo_out() < 0) {
|
||||
control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
|
||||
control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
|
||||
}
|
||||
|
||||
if (AP_Notify::flags.initialising) {
|
||||
// while initialising the gyros and accels are not enabled
|
||||
control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
|
||||
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
|
||||
}
|
||||
#if FRSKY_TELEM_ENABLED == ENABLED
|
||||
// give mask of error flags to Frsky_Telemetry
|
||||
frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
|
||||
#endif
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue