Merge ee7d7de into a615e52

plugins/telemetry/include/plugins/telemetry/telemetry.h

@@ -474,6 +474,27 @@ class Telemetry : public PluginBase {
      */
     Health health() const;
 
+    /**
+     * @brief Returns true if gyroscope health is ok (synchronous).
+     *
+     * @return True if only gyroscope flags is OK.
+     */
+    bool health_gyrometer() const;
+
+    /**
+     * @brief Returns true if accelerometer health is ok (synchronous).
+     *
+     * @return True if only accelerometer flags is OK.
+     */
+    bool health_accelerometer() const;
+
+    /**
+     * @brief Returns true if magnetometer health is ok (synchronous).
+     *
+     * @return True if only magnetometer flags is OK.
+     */
+    bool health_magnetometer() const;
+
     /**
      * @brief Returns true if the overall health is ok (synchronous).
      *

plugins/telemetry/telemetry.cpp

@@ -181,6 +181,21 @@ Telemetry::Health Telemetry::health() const
     return _impl->get_health();
 }
 
+bool Telemetry::health_gyrometer() const
+{
+    return _impl->get_health_gyrometer();
+}
+
+bool Telemetry::health_accelerometer() const
+{
+    return _impl->get_health_accelerometer();
+}
+
+bool Telemetry::health_magnetometer() const
+{
+    return _impl->get_health_magnetometer();
+}
+
 bool Telemetry::health_all_ok() const
 {
     return _impl->get_health_all_ok();

plugins/telemetry/telemetry_impl.cpp

@@ -759,6 +759,36 @@ Telemetry::Health TelemetryImpl::get_health() const
     return _health;
 }
 
+bool TelemetryImpl::get_health_gyrometer() const
+{
+    std::lock_guard<std::mutex> lock(_health_mutex);
+    if (_health.gyrometer_calibration_ok) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
+bool TelemetryImpl::get_health_accelerometer() const
+{
+    std::lock_guard<std::mutex> lock(_health_mutex);
+    if (_health.accelerometer_calibration_ok) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
+bool TelemetryImpl::get_health_magnetometer() const
+{
+    std::lock_guard<std::mutex> lock(_health_mutex);
+    if (_health.magnetometer_calibration_ok) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
 bool TelemetryImpl::get_health_all_ok() const
 {
     std::lock_guard<std::mutex> lock(_health_mutex);

plugins/telemetry/telemetry_impl.h

@@ -63,6 +63,9 @@ class TelemetryImpl : public PluginImplBase {
     Telemetry::Battery get_battery() const;
     Telemetry::FlightMode get_flight_mode() const;
     Telemetry::Health get_health() const;
+    bool get_health_gyrometer() const;
+    bool get_health_accelerometer() const;
+    bool get_health_magnetometer() const;
     bool get_health_all_ok() const;
     Telemetry::RCStatus get_rc_status() const;