SYS_STATUS: fill correct attitude, horizontal position flags

PX4 · Aug 9, 2024 · 64056fc · 64056fc
1 parent 1211aad
commit 64056fc
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/modules/mavlink/streams/SYS_STATUS.hpp b/src/modules/mavlink/streams/SYS_STATUS.hpp
@@ -150,7 +150,11 @@ class MavlinkStreamSysStatus : public MavlinkStream
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_3D_MAG, health_component_t::magnetometer, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_GPS, health_component_t::gps, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_RC_RECEIVER, health_component_t::remote_control, msg);
-			fillOutComponent(health_report, MAV_SYS_STATUS_AHRS, health_component_t::local_position_estimate, msg);
+			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION, health_component_t::attitude_estimate,
+					 msg);
+			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL, health_component_t::local_position_estimate,
+					 msg);
+			fillOutComponent(health_report, MAV_SYS_STATUS_AHRS, health_component_t::attitude_estimate, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_LOGGING, health_component_t::logging, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE, health_component_t::absolute_pressure, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, health_component_t::differential_pressure,