Copter: mavlink ext status to use abs pressure

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()) {