diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde index b7e66c9ba6..d0dd0961dd 100644 --- a/APMrover2/GCS_Mavlink.pde +++ b/APMrover2/GCS_Mavlink.pde @@ -27,6 +27,10 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan) uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; 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