From 1c2a6deaaf1af32df7d2b2968dfa4e46c01bf579 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Jan 2015 12:45:01 +1100
Subject: [PATCH] AP_Baro: added all_healthy() method
---
libraries/AP_Baro/AP_Baro.cpp | 13 +++++++++++++
libraries/AP_Baro/AP_Baro.h | 3 +++
2 files changed, 16 insertions(+)
diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 9e63ea252..44a86137e 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -329,3 +329,16 @@ uint8_t AP_Baro::register_sensor(void)
return _num_sensors++;
}
+
+/*
+ check if all barometers are healthy
+ */
+bool AP_Baro::all_healthy(void) const
+{
+ for (uint8_t i=0; i<_num_sensors; i++) {
+ if (!healthy(i)) {
+ return false;
+ }
+ }
+ return _num_sensors > 0;
+}
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index 185de9bdd..300ab27cf 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -44,6 +44,9 @@ public:
bool healthy(void) const { return healthy(_primary); }
bool healthy(uint8_t instance) const { return sensors[instance].healthy && sensors[instance].alt_ok; }
+ // check if all baros are healthy - used for SYS_STATUS report
+ bool all_healthy(void) const;
+
// pressure in Pascal. Divide by 100 for millibars or hectopascals
float get_pressure(void) const { return get_pressure(_primary); }
float get_pressure(uint8_t instance) const { return sensors[instance].pressure; }
--
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