report IMU2 hardware status

js/fc.js

@@ -93,7 +93,8 @@ var FC = {
             gpsHwStatus: 0,
             rangeHwStatus: 0,
             speedHwStatus: 0,
-            flowHwStatus: 0
+            flowHwStatus: 0,
+            imu2HwStatus: 0
         };
 
         SENSOR_CONFIG = {

js/msp/MSPHelper.js

@@ -1,4 +1,4 @@
-/*global $, SERVO_DATA, PID_names, ADJUSTMENT_RANGES, RXFAIL_CONFIG, SERVO_CONFIG*/
+/*global $, SERVO_DATA, PID_names, ADJUSTMENT_RANGES, RXFAIL_CONFIG, SERVO_CONFIG,CONFIG*/
 'use strict';
 
 var mspHelper = (function (gui) {
@@ -133,6 +133,12 @@ var mspHelper = (function (gui) {
                 SENSOR_STATUS.rangeHwStatus = data.getUint8(6);
                 SENSOR_STATUS.speedHwStatus = data.getUint8(7);
                 SENSOR_STATUS.flowHwStatus = data.getUint8(8);
+
+                if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) {
+                    SENSOR_STATUS.imu2HwStatus = data.getUint8(9);
+                } else {
+                    SENSOR_STATUS.imu2HwStatus = 0;
+                }
                 sensor_status_ex(SENSOR_STATUS);
                 break;
 

js/serial_backend.js

@@ -403,6 +403,7 @@ function sensor_status_ex(hw_status)
     sensor_status_update_icon('.sonar',     '.sonaricon',       hw_status.rangeHwStatus);
     sensor_status_update_icon('.airspeed',  '.airspeedicon',    hw_status.speedHwStatus);
     sensor_status_update_icon('.opflow',    '.opflowicon',      hw_status.flowHwStatus);
+    sensor_status_update_icon('.imu2',      '.imu2icon',        hw_status.imu2HwStatus);
 }
 
 function sensor_status_update_icon(sensId, sensIconId, status)
@@ -437,7 +438,8 @@ function sensor_status_hash(hw_status)
            hw_status.gpsHwStatus +
            hw_status.rangeHwStatus +
            hw_status.speedHwStatus +
-           hw_status.flowHwStatus;
+           hw_status.flowHwStatus + 
+           hw_status.imu2HwStatus;
 }
 
 /**
@@ -460,6 +462,7 @@ function sensor_status(sensors_detected) {
     SENSOR_STATUS.rangeHwStatus     = have_sensor(sensors_detected, 'sonar') ? 1 : 0;
     SENSOR_STATUS.speedHwStatus     = have_sensor(sensors_detected, 'airspeed') ? 1 : 0;
     SENSOR_STATUS.flowHwStatus      = have_sensor(sensors_detected, 'opflow') ? 1 : 0;
+    SENSOR_STATUS.imu2HwStatus      = have_sensor(sensors_detected, 'imu2') ? 1 : 0;
     sensor_status_ex(SENSOR_STATUS);
 }
 

main.css

@@ -318,6 +318,27 @@ input[type="number"]::-webkit-inner-spin-button {
     color: #d40000;
 }
 
+.imu2icon {
+    background: url("../images/icons/sensor_imu2_off.png") no-repeat -5px 2px;
+    background-size: 40px;
+    height: 30px;
+    margin-top: 3px;
+    width: 100%;
+    padding-top: 40px;
+    color: #4f4f4f;
+    text-align: center;
+}
+
+.imu2icon.active {
+    background-image: url("../images/icons/sensor_imu2_on.png");
+    color: #818181;
+}
+
+.imu2icon.error {
+    background-image: url("../images/icons/sensor_imu2_error.png");
+    color: #d40000;
+}
+
 .magicon {
     background: url("../images/icons/sensor_mag_off.png") no-repeat -5px 2px;
     background-size: 42px;

main.html

@@ -138,6 +138,9 @@
                         <li class="airspeed" title="Airspeed">
                             <div class="airspeedicon">Speed</div>
                         </li>
+                        <li class="imu2" title="IMU2">
+                            <div class="imu2icon">IMU2</div>
+                        </li>
                     </ul>
                 </div>
                 <div id="quad-status_wrapper">