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GCS_MAVLink: Fix Airspeed without AHRS

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Iampete1 2024-09-17 01:06:48 +01:00 committed by Peter Barker
parent 8b50f3b54b
commit c19e5713ae
1 changed files with 4 additions and 2 deletions
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6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2331,7 +2331,7 @@ void GCS_MAVLINK::send_scaled_pressure3()
} }
#if AP_AIRSPEED_ENABLED #if AP_AIRSPEED_ENABLED
void GCS_MAVLINK::send_airspeed() void GCS_MAVLINK::send_airspeed()
{ {
AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed == nullptr) { if (airspeed == nullptr) {
@ -2357,11 +2357,13 @@ void GCS_MAVLINK::send_airspeed()
flags |= 1U << AIRSPEED_SENSOR_FLAGS::AIRSPEED_SENSOR_UNHEALTHY; flags |= 1U << AIRSPEED_SENSOR_FLAGS::AIRSPEED_SENSOR_UNHEALTHY;
} }
#if AP_AHRS_ENABLED
// Set using flag if the AHRS is using this sensor // Set using flag if the AHRS is using this sensor
const AP_AHRS &ahrs = AP::ahrs(); const AP_AHRS &ahrs = AP::ahrs();
if (ahrs.using_airspeed_sensor() && (ahrs.get_active_airspeed_index() == index)) { if (ahrs.using_airspeed_sensor() && (ahrs.get_active_airspeed_index() == index)) {
flags |= 1U << AIRSPEED_SENSOR_FLAGS::AIRSPEED_SENSOR_USING; flags |= 1U << AIRSPEED_SENSOR_FLAGS::AIRSPEED_SENSOR_USING;
} }
#endif
// Assemble message and send // Assemble message and send
const mavlink_airspeed_t msg { const mavlink_airspeed_t msg {
@ -2380,7 +2382,7 @@ void GCS_MAVLINK::send_airspeed()
} }
} }
#endif #endif // AP_AIRSPEED_ENABLED
#if AP_AHRS_ENABLED #if AP_AHRS_ENABLED
void GCS_MAVLINK::send_ahrs() void GCS_MAVLINK::send_ahrs()