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Plane: add SYS_STATUS reverse_motor 

- helpful to tell GCS to interpret VFR_HUD as negative when bit is enabled
- throttle is sent as abs()
This commit is contained in:
Tom Pittenger 2016-02-10 21:28:06 -08:00 committed by Andrew Tridgell
parent fa53263ca9
commit d04b5e735f
1 changed files with 10 additions and 1 deletions
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11
ArduPlane/GCS_Mavlink.cpp
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@ -150,6 +150,10 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
}
if (aparm.throttle_min < 0) {
control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
}
// 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);
@ -300,6 +304,11 @@ void Plane::send_extended_status1(mavlink_channel_t chan)
}
#endif
if (aparm.throttle_min < 0 && channel_throttle->servo_out < 0) {
control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
}
if (AP_Notify::flags.initialising) {
// while initialising the gyros and accels are not enabled
control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
@ -428,7 +437,7 @@ void Plane::send_vfr_hud(mavlink_channel_t chan)
aspeed,
gps.ground_speed(),
(ahrs.yaw_sensor / 100) % 360,
throttle_percentage(),
abs(throttle_percentage()),
current_loc.alt / 100.0f,
barometer.get_climb_rate());
}