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AP_Frsky_Telem: added healthy status bit to terrain frame 0x500A

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yaapu 2021-05-05 12:29:47 +02:00 committed by Peter Barker
parent 8b0bb44cd7
commit dcf85bcf3b
1 changed files with 4 additions and 1 deletions
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libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
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@ -62,7 +62,8 @@ for FrSky SPort Passthrough
#define ATTIANDRNG_PITCH_LIMIT 0x3FF
#define ATTIANDRNG_PITCH_OFFSET 11
#define ATTIANDRNG_RNGFND_OFFSET 21
// for terrain data
#define TERRAIN_UNHEALTHY_OFFSET 13
extern const AP_HAL::HAL& hal;
AP_Frsky_SPort_Passthrough *AP_Frsky_SPort_Passthrough::singleton;
@ -656,6 +657,8 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_terrain(void)
// vehicle height above terrain
value |= prep_number(roundf(height_above_terrain * 10), 3, 2);
}
// terrain unhealthy flag
value |= (uint8_t)(terrain->status() == AP_Terrain::TerrainStatus::TerrainStatusUnhealthy) << TERRAIN_UNHEALTHY_OFFSET;
#endif
return value;
}