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MAVLink: update compass health in SYS_STATUS

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this will make it easier to tell if a I2C error occurred in flight
This commit is contained in:
Andrew Tridgell 2012-11-12 11:26:54 +11:00
parent daa4712078
commit fddfb0b1a3
2 changed files with 14 additions and 0 deletions
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7
ArduCopter/GCS_Mavlink.pde
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@ -153,6 +153,13 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
// at the moment all sensors/controllers are assumed healthy
control_sensors_health = control_sensors_present;
if (!compass.healthy) {
control_sensors_health &= ~(1<<2); // compass
}
if (!compass.use_for_yaw()) {
control_sensors_enabled &= ~(1<<2); // compass
}
uint16_t battery_current = -1;
uint8_t battery_remaining = -1;

7
ArduPlane/GCS_Mavlink.pde
View File

@ -190,6 +190,13 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
// at the moment all sensors/controllers are assumed healthy
control_sensors_health = control_sensors_present;
if (!compass.healthy) {
control_sensors_health &= ~(1<<2); // compass
}
if (!compass.use_for_yaw()) {
control_sensors_enabled &= ~(1<<2); // compass
}
uint16_t battery_current = -1;
uint8_t battery_remaining = -1;