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Plane: individual accel and gyro status to GCS

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This commit is contained in:
Randy Mackay 2014-09-01 20:22:29 +09:00
parent 4a06941a39
commit c2cdc0468b
1 changed files with 5 additions and 2 deletions
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7
ArduPlane/GCS_Mavlink.pde
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@ -225,8 +225,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (!ins.healthy()) {
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
if (!ins.get_gyro_health_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;