From 2261f94361e127cb4f1d3ff5ea7b03bc9f13eb32 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Fri, 9 Oct 2020 13:33:21 +0200
Subject: [PATCH] ArduCopter: Mark motors un-healthy if any motors are not
 producing thrust

---
 ArduCopter/GCS_Copter.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
index acee83e333..55b8e821d4 100644
--- a/ArduCopter/GCS_Copter.cpp
+++ b/ArduCopter/GCS_Copter.cpp
@@ -150,4 +150,12 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         break;
     }
 #endif
+
+    control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROPULSION;
+    control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROPULSION;
+    // only mark propulsion healthy if all of the motors are producing
+    // nominal thrust
+    if (!copter.motors->get_thrust_boost()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROPULSION;
+    }
 }