Plane: report baro health to GCS

ArduPlane/GCS_Mavlink.pde

@@ -205,8 +205,9 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         break;
     }
 
-    // default: all present sensors healthy except 3D_MAG, GPS, DIFFERNTIAL_PRESSURE.   GEOFENCE always defaults to healthy.
-    control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_3D_MAG | 
+    // default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE.   GEOFENCE always defaults to healthy.
+    control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
+                                                         MAV_SYS_STATUS_SENSOR_3D_MAG |
                                                          MAV_SYS_STATUS_SENSOR_GPS |
                                                          MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
     control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
@@ -215,7 +216,9 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         // AHRS subsystem is unhealthy
         control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
     }
-
+    if (barometer.healthy) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+    }
     if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }