From c32676adf5f1ad2aa8cdf3860ebb80c2b4316991 Mon Sep 17 00:00:00 2001
From: yaapu <alex.apostoli@gmail.com>
Date: Wed, 5 May 2021 12:26:35 +0200
Subject: [PATCH] AP_Frsky_Telem: added (generic) failsafe status bit to frame
 0x5001

---
 libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
index 517c858e0f..92081f3d11 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
@@ -44,6 +44,7 @@ for FrSky SPort Passthrough
 #define AP_ARMED_OFFSET             8
 #define AP_BATT_FS_OFFSET           9
 #define AP_EKF_FS_OFFSET            10
+#define AP_FS_OFFSET                12
 #define AP_FENCE_PRESENT_OFFSET     13
 #define AP_FENCE_BREACH_OFFSET      14
 #define AP_IMU_TEMP_MIN             19.0f
@@ -525,6 +526,8 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_ap_status(void)
     ap_status |= (uint8_t)(AP_Notify::flags.failsafe_battery)<<AP_BATT_FS_OFFSET;
     // bad ekf flag
     ap_status |= (uint8_t)(AP_Notify::flags.ekf_bad)<<AP_EKF_FS_OFFSET;
+    // generic failsafe
+    ap_status |= (uint8_t)(AP_Notify::flags.failsafe_battery||AP_Notify::flags.failsafe_ekf||AP_Notify::flags.failsafe_gcs||AP_Notify::flags.failsafe_radio)<<AP_FS_OFFSET;
     // fence status
     AC_Fence *fence = AP::fence();
     if (fence != nullptr) {