From 176ee507a2ab65825f6c250b98b52c6e1876f836 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 8 Nov 2018 12:53:44 +1100 Subject: [PATCH] Copter: make mavlink rangefinder health bit depend just on data available This means the sensor is healthy even if it is out of range. This is a partial revert of commit https://github.com/ArduPilot/ardupilot/commit/724f34c7e72c7c763e6139dbfe241be5a64d8151#diff-577a72d2550199fabbdfd77fa5890368R408 --- ArduCopter/sensors.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp index 967a50e132..19dc71251b 100644 --- a/ArduCopter/sensors.cpp +++ b/ArduCopter/sensors.cpp @@ -397,7 +397,7 @@ void Copter::update_sensor_status_flags(void) #if RANGEFINDER_ENABLED == ENABLED if (rangefinder_state.enabled) { control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; - if (!rangefinder_state.alt_healthy) { + if (!rangefinder.has_data_orient(ROTATION_PITCH_270)) { control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION; } }