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GCS_MAVLink: use MAV_SYS_STATUS_PREARM_CHECK

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this allows GCS to continually display prearm check status
This commit is contained in:
Andrew Tridgell 2019-12-18 09:32:57 +11:00 committed by Randy Mackay
parent c0e033cb14
commit ea3d217388
1 changed files with 12 additions and 0 deletions
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12
libraries/GCS_MAVLink/GCS.cpp
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@ -7,6 +7,8 @@
#include <AP_Scheduler/AP_Scheduler.h> #include <AP_Scheduler/AP_Scheduler.h>
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Arming/AP_Arming.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -193,6 +195,16 @@ void GCS::update_sensor_status_flags()
} }
} }
// give GCS status of prearm checks. This is enabled if any arming checks are enabled.
// it is healthy if armed or checks are passing
control_sensors_present |= MAV_SYS_STATUS_PREARM_CHECK;
if (AP::arming().get_enabled_checks()) {
control_sensors_enabled |= MAV_SYS_STATUS_PREARM_CHECK;
if (hal.util->get_soft_armed() || AP_Notify::flags.pre_arm_check) {
control_sensors_health |= MAV_SYS_STATUS_PREARM_CHECK;
}
}
update_vehicle_sensor_status_flags(); update_vehicle_sensor_status_flags();
} }