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Copter: added terrain status reporting

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This commit is contained in:
Andrew Tridgell 2014-07-24 20:17:13 +10:00
parent 07583a0604
commit 8d04deff6a
1 changed files with 16 additions and 0 deletions
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16
ArduCopter/GCS_Mavlink.pde
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@ -210,6 +210,22 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
battery_current = battery.current_amps() * 100; battery_current = battery.current_amps() * 100;
} }
#if HAVE_AP_TERRAIN
switch (terrain.status()) {
case AP_Terrain::TerrainStatusDisabled:
break;
case AP_Terrain::TerrainStatusUnhealthy:
control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
break;
case AP_Terrain::TerrainStatusOK:
control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
break;
}
#endif
mavlink_msg_sys_status_send( mavlink_msg_sys_status_send(
chan, chan,
control_sensors_present, control_sensors_present,