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Add overall hardware health reporting via MSP_STATUS/MSP_STATUS_EX and LTM

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-12-07 13:04:57 +10:00
parent f79349bd69
commit 45e5a86c31
2 changed files with 22 additions and 3 deletions
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19
src/main/fc/fc_msp.c
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@ -370,6 +370,21 @@ static uint32_t packFlightModeFlags(void)
return ret;
}
static uint16_t packSensorStatus(void)
{
uint16_t sensorStatus =
IS_ENABLED(sensors(SENSOR_ACC)) << 0 |
IS_ENABLED(sensors(SENSOR_BARO)) << 1 |
IS_ENABLED(sensors(SENSOR_MAG)) << 2 |
IS_ENABLED(sensors(SENSOR_GPS)) << 3 |
IS_ENABLED(sensors(SENSOR_SONAR)) << 4 |
//IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_PITOT)) << 6 |
IS_ENABLED(isHardwareHealthy()) << 15; // Bit 15 of sensor bit field indicates general hardware health
return sensorStatus;
}
static void serializeSDCardSummaryReply(sbuf_t *dst)
{
#ifdef USE_SDCARD
@ -529,7 +544,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4 | sensors(SENSOR_PITOT) << 6);
sbufWriteU16(dst, packSensorStatus());
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, masterConfig.current_profile_index);
sbufWriteU16(dst, averageSystemLoadPercent);
@ -542,7 +557,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4 | sensors(SENSOR_PITOT) << 6);
sbufWriteU16(dst, packSensorStatus());
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, masterConfig.current_profile_index);
break;