From 182d0f9cb0c6c23e0de8fa396ddc500a9569ad3b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell <tridge@samba.org> Date: Thu, 15 May 2014 20:53:18 +1000 Subject: [PATCH] Plane: added reporting of AHRS health --- ArduPlane/GCS_Mavlink.pde | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde index 190bb7ad8..8f5fcea76 100644 --- a/ArduPlane/GCS_Mavlink.pde +++ b/ArduPlane/GCS_Mavlink.pde @@ -1,7 +1,7 @@ // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control -#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS) +#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS) // use this to prevent recursion during sensor init static bool in_mavlink_delay; @@ -217,6 +217,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan) MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE); control_sensors_health |= MAV_SYS_STATUS_GEOFENCE; + if (!ahrs.healthy()) { + // AHRS subsystem is unhealthy + control_sensors_health &= ~MAV_SYS_STATUS_AHRS; + } + if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; } -- GitLab