mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
#include "GCS_Blimp.h"
|
|
|
|
#include "Blimp.h"
|
|
|
|
uint8_t GCS_Blimp::sysid_this_mav() const
|
|
{
|
|
return blimp.g.sysid_this_mav;
|
|
}
|
|
|
|
const char* GCS_Blimp::frame_string() const
|
|
{
|
|
return blimp.get_frame_string();
|
|
}
|
|
|
|
void GCS_Blimp::update_vehicle_sensor_status_flags(void)
|
|
{
|
|
// mode-specific flags:
|
|
control_sensors_present |=
|
|
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
|
|
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
|
|
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
|
|
|
|
control_sensors_enabled |=
|
|
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
|
|
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
|
|
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
|
|
|
|
control_sensors_health |=
|
|
MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
|
|
MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
|
|
MAV_SYS_STATUS_SENSOR_YAW_POSITION;
|
|
|
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
|
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
|
|
|
|
const Blimp::ap_t &ap = blimp.ap;
|
|
|
|
if (ap.rc_receiver_present) {
|
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
|
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
|
|
}
|
|
if (ap.rc_receiver_present && !blimp.failsafe.radio) {
|
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
|
|
}
|
|
}
|