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