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GCS_MAVLink: always show AHRS healthy with EKF type 10

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this fixes an issue noticed by Marco with xplane
This commit is contained in:
Andrew Tridgell 2019-06-22 11:26:30 +10:00 committed by Tom Pittenger
parent 5ac2aad2f8
commit b6dbb8f464
1 changed files with 8 additions and 0 deletions
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8
libraries/GCS_MAVLink/GCS.cpp
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@ -169,5 +169,13 @@ void GCS::update_sensor_status_flags()
} }
control_sensors_health |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS; control_sensors_health |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (ahrs.get_ekf_type() == 10) {
// always show EKF type 10 as healthy. This prevents spurious error
// messages in xplane and other simulators that use EKF type 10
control_sensors_health |= MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_GPS | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_3D_GYRO;
}
#endif
update_vehicle_sensor_status_flags(); update_vehicle_sensor_status_flags();
} }