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Plane: report compass health in SYS_STATUS

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This commit is contained in:
Andrew Tridgell 2013-03-29 13:48:40 +11:00
parent 8459da202c
commit 6cc4aadc06
1 changed files with 6 additions and 5 deletions
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11
ArduPlane/GCS_Mavlink.pde
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@ -134,7 +134,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
control_sensors_present |= (1<<2); // compass present
}
control_sensors_present |= (1<<3); // absolute pressure sensor present
if (g_gps != NULL && g_gps->status() >= GPS::NO_FIX) {
if (g_gps != NULL && g_gps->status() >= GPS::NO_GPS) {
control_sensors_present |= (1<<5); // GPS present
}
control_sensors_present |= (1<<10); // 3D angular rate control
@ -195,11 +195,12 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
// at the moment all sensors/controllers are assumed healthy
control_sensors_health = control_sensors_present;
if (!compass.healthy) {
control_sensors_health &= ~(1<<2); // compass
if (!ahrs.use_compass()) {
control_sensors_health &= ~(1<<2); // compass not being used
}
if (!compass.use_for_yaw()) {
control_sensors_enabled &= ~(1<<2); // compass
if (g_gps != NULL && g_gps->status() <= GPS::NO_FIX) {
control_sensors_health &= ~(1<<5); // GPS unhealthy
}
uint16_t battery_current = -1;