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Plane: add dataflash as a bit for the mavlink SYS_STATUS message

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Peter Barker 2016-07-07 21:48:07 +10:00 committed by Lucas De Marchi
parent 4371223738
commit cb7686001f
1 changed files with 12 additions and 1 deletions
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13
ArduPlane/GCS_Mavlink.cpp
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@ -155,9 +155,12 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
if (aparm.throttle_min < 0) { if (aparm.throttle_min < 0) {
control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR; control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
} }
if (plane.DataFlash.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control, geofence and motor output which we will set individually // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control, geofence and motor output which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & ~MAV_SYS_STATUS_SENSOR_YAW_POSITION & ~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_GEOFENCE); control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & ~MAV_SYS_STATUS_SENSOR_YAW_POSITION & ~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_GEOFENCE & ~MAV_SYS_STATUS_LOGGING);
if (airspeed.enabled() && airspeed.use()) { if (airspeed.enabled() && airspeed.use()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
@ -167,6 +170,10 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE; control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
} }
if (plane.DataFlash.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
}
switch (control_mode) { switch (control_mode) {
case MANUAL: case MANUAL:
break; break;
@ -266,6 +273,10 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
} }
#endif #endif
if (plane.DataFlash.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
if (millis() - failsafe.last_valid_rc_ms < 200) { if (millis() - failsafe.last_valid_rc_ms < 200) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
} else { } else {