prep for sensor init reporting

rosflight · Aug 27, 2024 · 84578c9 · 84578c9
1 parent b84cdf7
commit 84578c9
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/include/board.h b/include/board.h
@@ -41,6 +41,7 @@
 
 namespace rosflight_firmware
 {
+
 class Board
 {
 public:
@@ -68,10 +69,13 @@ class Board
   virtual void serial_flush() = 0;
 
   // sensors
-  virtual void sensors_init() = 0;
-  virtual uint16_t num_sensor_errors() = 0;
+  virtual void sensors_init(void) = 0;
+  virtual uint16_t sensors_errors_count() = 0;
+  virtual uint16_t sensors_init_message_count() =  0;
+  virtual uint16_t sensors_init_message(char &message, uint32_t i) = 0;
 
   // IMU
+  virtual bool imu_present() = 0;
   virtual bool imu_has_new_data() = 0;
   virtual bool imu_read(float accel[3], float * temperature, float gyro[3], uint64_t * time) = 0;
   virtual void imu_not_responding_error() = 0;

diff --git a/src/comm_manager.cpp b/src/comm_manager.cpp
@@ -361,7 +361,7 @@ void CommManager::send_status(void)
   comm_link_.send_status(
     sysid_, RF_.state_manager_.state().armed, RF_.state_manager_.state().failsafe,
     RF_.command_manager_.rc_override_active(), RF_.command_manager_.offboard_control_active(),
-    RF_.state_manager_.state().error_codes, control_mode, RF_.board_.num_sensor_errors(),
+    RF_.state_manager_.state().error_codes, control_mode, RF_.board_.sensors_errors_count(),
     RF_.get_loop_time_us());
 }