From 8bcbce16ed92dd74b6f823bd3e619d6a95f08357 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 14 Nov 2014 15:34:36 +1100
Subject: [PATCH] GCS_MAVLink: show rangefinder status in SYS_STATUS
---
ArduPlane/GCS_Mavlink.pde | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index fce87942a..6c5a2036f 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -265,6 +265,16 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
}
#endif
+ if (rangefinder.num_sensors() > 0) {
+ control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+ if (g.rangefinder_landing) {
+ control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+ }
+ if (rangefinder.healthy()) {
+ control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+ }
+ }
+
mavlink_msg_sys_status_send(
chan,
control_sensors_present,
--
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