ArduSub: tidy setting of sensor status flags

ArduSub/GCS_Sub.cpp

@@ -9,6 +9,7 @@ uint8_t GCS_Sub::sysid_this_mav() const
 
 void GCS_Sub::update_vehicle_sensor_status_flags()
 {
+    // mode-specific sensors:
     control_sensors_present |=
         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
@@ -24,19 +25,6 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
 
-    // first what sensors/controllers we have
-    if (sub.ap.depth_sensor_present) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
-    }
-#if OPTFLOW == ENABLED
-    const OpticalFlow *optflow = AP::opticalflow();
-    if (optflow && optflow->enabled()) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
-    }
-#endif
-
     control_sensors_present |=
         MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL |
         MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
@@ -57,11 +45,23 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
         break;
     }
 
+    // override the parent class's values for ABSOLUTE_PRESSURE to
+    // only check internal barometer:
+    if (sub.ap.depth_sensor_present) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+    }
     control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; // check the internal barometer only
     if (sub.sensor_health.depth) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
     }
+
 #if OPTFLOW == ENABLED
+    const OpticalFlow *optflow = AP::opticalflow();
+    if (optflow && optflow->enabled()) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
+    }
     if (optflow && optflow->healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
     }