Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-08 08:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: individual accel and gyro status to GCS

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/GCS_Mavlink.pde
View File

@ -225,8 +225,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) { if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
} }
if (!ins.healthy()) { if (!ins.get_gyro_health_all()) {
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL); 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()) { if (airspeed.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE; control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;