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health-flags: Increase health flags to 64 bit bit field to support extended sys status mavlink message

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Add SYS_STATUS flag for parachute
This commit is contained in:
Thomas Debrunner
2021-12-14 09:41:12 -05:00
committed by Daniel Agar
parent 37099f85b9
commit eb69f15d3a
5 changed files with 33 additions and 17 deletions
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src/modules/mavlink/streams/SYS_STATUS.hpp
+13 -3
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@@ -91,9 +91,19 @@ private:
mavlink_sys_status_t msg{};
msg.onboard_control_sensors_present = status.onboard_control_sensors_present;
msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled;
msg.onboard_control_sensors_health = status.onboard_control_sensors_health;
msg.onboard_control_sensors_present = static_cast<uint32_t>(status.onboard_control_sensors_present & 0xFFFFFFFF) |
MAV_SYS_STATUS_EXTENSION_USED;
msg.onboard_control_sensors_enabled = static_cast<uint32_t>(status.onboard_control_sensors_enabled & 0xFFFFFFFF) |
MAV_SYS_STATUS_EXTENSION_USED;
msg.onboard_control_sensors_health = static_cast<uint32_t>(status.onboard_control_sensors_health & 0xFFFFFFFF) |
MAV_SYS_STATUS_EXTENSION_USED;
msg.onboard_control_sensors_present_extended = static_cast<uint32_t>((status.onboard_control_sensors_present >> 32u) &
0xFFFFFFFF);
msg.onboard_control_sensors_enabled_extended = static_cast<uint32_t>((status.onboard_control_sensors_enabled >> 32u) &
0xFFFFFFFF);
msg.onboard_control_sensors_health_extended = static_cast<uint32_t>((status.onboard_control_sensors_health >> 32u) &
0xFFFFFFFF);
msg.load = cpuload.load * 1000.0f;