From 3751dbef916aba016a1ca4c046fa712c8c7c6e24 Mon Sep 17 00:00:00 2001
From: Derek Ma <derek@matternet.us>
Date: Thu, 7 Jan 2016 10:49:49 -0800
Subject: [PATCH] ArduCopter: include precision landing sensor in mavlink
 system status

Set MAV_SYS_STATUS_SENSOR_VISION_POSITION bit in onboard_control_sensors_present, onboard_control_sensors_enabled and onboard_control_sensors_health based on the status of precision landing sensor.
---
 ArduCopter/GCS_Mavlink.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 2c66509087..fe56953ea9 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -143,6 +143,11 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
     if (optflow.enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
     }
+#endif
+#if PRECISION_LANDING == ENABLED
+    if (precland.enabled()) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
+    }
 #endif
     if (ap.rc_receiver_present) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
@@ -194,6 +199,11 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
     if (optflow.healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
     }
+#endif
+#if PRECISION_LANDING == ENABLED
+    if (precland.healthy()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
+    }
 #endif
     if (ap.rc_receiver_present && !failsafe.radio) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;