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Send FS state to gcs for AP

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Michael Oborne 2013-02-09 10:11:26 +08:00
parent 582d1c47b3
commit 88840eb759
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/GCS_Mavlink.pde
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@ -28,6 +28,10 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
uint8_t system_status = MAV_STATE_ACTIVE;
uint32_t custom_mode = control_mode;
if (failsafe != FAILSAFE_NONE) {
system_status = MAV_STATE_CRITICAL;
}
// work out the base_mode. This value is not very useful
// for APM, but we calculate it as best we can so a generic
// MAVLink enabled ground station can work out something about