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Copter: report proximity health in system-status

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This commit is contained in:
Randy Mackay 2016-08-22 15:37:08 +09:00
parent a07ecfe2b3
commit 4afa49eebe
1 changed files with 11 additions and 0 deletions
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11
ArduCopter/GCS_Mavlink.cpp
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@ -143,6 +143,11 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
if (copter.DataFlash.logging_present()) { // primary logging only (usually File) if (copter.DataFlash.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING; control_sensors_present |= MAV_SYS_STATUS_LOGGING;
} }
#if PROXIMITY_ENABLED == ENABLED
if (copter.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
// all present sensors enabled by default except altitude and position control and motors which we will set individually // all present sensors enabled by default except altitude and position control and motors which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
@ -222,6 +227,12 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING; control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
} }
#if PROXIMITY_ENABLED == ENABLED
if (copter.proximity.get_status() < AP_Proximity::Proximity_Good) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
int16_t battery_current = -1; int16_t battery_current = -1;
int8_t battery_remaining = -1; int8_t battery_remaining = -1;