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Plane: move setting of compass sys_status bits up

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Peter Barker 2019-04-14 09:35:38 +10:00 committed by Andrew Tridgell
parent 07b8473a20
commit bba902ab94
1 changed files with 0 additions and 11 deletions
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11
ArduPlane/GCS_Plane.cpp
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@ -4,11 +4,6 @@
void GCS_Plane::update_vehicle_sensor_status_flags(void) void GCS_Plane::update_vehicle_sensor_status_flags(void)
{ {
// first what sensors/controllers we have // first what sensors/controllers we have
if (AP::compass().enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
const AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed && airspeed->enabled()) { if (airspeed && airspeed->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE; control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
@ -110,12 +105,6 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
} }
AP_AHRS &ahrs = AP::ahrs();
const Compass &compass = AP::compass();
if (AP::compass().enabled() && compass.healthy() && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.is_healthy()) { if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.is_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
} }