Plane: set gyros disabled when calibrating

2015-03-09 08:25:33 +11:00 · 2015-03-09 08:25:33 +11:00 · fa70c95c8e
commit fa70c95c8e
parent aec7907571
1 changed files with 6 additions and 0 deletions
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@ -290,6 +290,12 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
        }
    }

+    if (AP_Notify::flags.initialising) {
+        // while initialising the gyros and accels are not enabled
+        control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    }
+
    mavlink_msg_sys_status_send(
        chan,
        control_sensors_present,