From f33e5e784788de61ea6e2104a3defc47e7d34e37 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 19 Apr 2023 16:53:38 +1000
Subject: [PATCH] ArduCopter: allow Copter to emit MISSION_STATE_PAUSED when
 paused in auto

---
 ArduCopter/GCS_Mavlink.cpp | 8 ++++++++
 ArduCopter/GCS_Mavlink.h   | 2 ++
 ArduCopter/mode.h          | 1 +
 ArduCopter/mode_auto.cpp   | 5 +++++
 4 files changed, 16 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 9250a79284..184a8f6015 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -579,6 +579,14 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
     MAV_STREAM_TERMINATOR // must have this at end of stream_entries
 };
 
+MISSION_STATE GCS_MAVLINK_Copter::mission_state(const class AP_Mission &mission) const
+{
+    if (copter.mode_auto.paused()) {
+        return MISSION_STATE_PAUSED;
+    }
+    return GCS_MAVLINK::mission_state(mission);
+}
+
 bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
 {
 #if MODE_AUTO_ENABLED == ENABLED
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index 2c0828aae4..e804974ead 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -55,6 +55,8 @@ protected:
 
 private:
 
+    MISSION_STATE mission_state(const class AP_Mission &mission) const override;
+
     void handleMessage(const mavlink_message_t &msg) override;
     void handle_command_ack(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 596e9482d7..43e9f8e4e9 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -462,6 +462,7 @@ public:
     // pause continue in auto mode
     bool pause() override;
     bool resume() override;
+    bool paused() const;
 
     bool loiter_start();
     void rtl_start();
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 77be356074..0be26d04de 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -2251,4 +2251,9 @@ bool ModeAuto::resume()
     return true;
 }
 
+bool ModeAuto::paused() const
+{
+    return wp_nav->paused();
+}
+
 #endif