From 09de917b271b64e7a97b6b1b1b2e6a0654ed77ca Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 4 Oct 2013 12:31:35 +0900 Subject: [PATCH] Copter: mavlink ext status to use abs pressure --- ArduCopter/GCS_Mavlink.pde | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index 1fbf61c812..090ab6a1fa 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/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_DIFFERENTIAL_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) // use this to prevent recursion during sensor init static bool in_mavlink_delay; @@ -157,7 +157,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack } #endif - // all present sensors enabled by default except compass, gps, alt and position control which we will set individually + // all present sensors enabled by default except altitude and position control which we will set individually control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL); switch (control_mode) { @@ -182,7 +182,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack // default to all healthy except compass and gps which we set individually control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS); - if (compass.healthy && compass.use_for_yaw()) { + if (g.compass_enabled && compass.healthy && ahrs.use_compass()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; } if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && !gps_glitch.glitching()) {