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Rover: report unhealthy compass if primary compass unhealthy

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Andrew Tridgell 2014-03-24 07:03:35 +11:00
parent 485ae596fc
commit bf4566095a
1 changed files with 1 additions and 1 deletions
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2
APMrover2/GCS_Mavlink.pde
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@ -155,7 +155,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
// default to all healthy except compass and gps which we set individually
control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (g_gps != NULL && g_gps->status() >= GPS::GPS_OK_FIX_3D) {