Copter: send optflow health in extended status

2014-12-08 11:48:06 +09:00 · 2014-12-08 11:48:06 +09:00 · 641c770726
commit 641c770726
parent 882546aa8e
1 changed files with 5 additions and 0 deletions
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@ -203,6 +203,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
    if (gps.status() > AP_GPS::NO_GPS && (!gps_glitch.glitching()||ap.usb_connected)) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
    }
+#if OPTFLOW == ENABLED
+    if (optflow.healthy()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
+    }
+#endif
    if (ap.rc_receiver_present && !failsafe.radio) {
        control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
    }