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45 lines
1.3 KiB
45 lines
1.3 KiB
#include "GCS_Blimp.h" |
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#include "Blimp.h" |
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uint8_t GCS_Blimp::sysid_this_mav() const |
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{ |
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return blimp.g.sysid_this_mav; |
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} |
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const char* GCS_Blimp::frame_string() const |
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{ |
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return blimp.get_frame_string(); |
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} |
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void GCS_Blimp::update_vehicle_sensor_status_flags(void) |
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{ |
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// mode-specific flags: |
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control_sensors_present |= |
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION; |
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control_sensors_enabled |= |
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION; |
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control_sensors_health |= |
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION; |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; |
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const Blimp::ap_t &ap = blimp.ap; |
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if (ap.rc_receiver_present) { |
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; |
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; |
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} |
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if (ap.rc_receiver_present && !blimp.failsafe.radio) { |
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; |
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} |
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}
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