From 16f63bfb651d8b7315593b4131c7ef67ba982459 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Wed, 19 Feb 2014 10:38:09 -0800
Subject: [PATCH] Added comment for sensor selection

---
 src/comm/MAVLinkSimulationMAV.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc
index f971b3be1..9dc20acaf 100644
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
@@ -168,11 +168,16 @@ void MAVLinkSimulationMAV::mainloop()
         
         // SYSTEM STATUS
         mavlink_sys_status_t status;
+        
+        // Since the simulation outputs global position, attiude and raw pressure we specify that the
+        // sensors that would be collecting this information are present, enabled and healthy.
+        
         status.onboard_control_sensors_present = MAV_SYS_STATUS_SENSOR_3D_GYRO |
                                                     MAV_SYS_STATUS_SENSOR_3D_ACCEL |
                                                     MAV_SYS_STATUS_SENSOR_3D_MAG |
                                                     MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
                                                     MAV_SYS_STATUS_SENSOR_GPS;
+        
         status.onboard_control_sensors_enabled = status.onboard_control_sensors_present;
         status.onboard_control_sensors_health = status.onboard_control_sensors_present;
         status.load = 300;
-- 
2.22.0