From 461671eaf3c6469ef196c66afb99d35a4d589634 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Mon, 26 Jun 2023 09:24:30 -0700
Subject: [PATCH] AP_DroneCAN: add NotifyState.landing & taking off

---
 libraries/AP_DroneCAN/AP_DroneCAN.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index b192d752e6..82a86e8b99 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -29,6 +29,7 @@
 #include <AP_GPS/AP_GPS_DroneCAN.h>
 #include <AP_Compass/AP_Compass_DroneCAN.h>
 #include <AP_Baro/AP_Baro_DroneCAN.h>
+#include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_BattMonitor/AP_BattMonitor_DroneCAN.h>
 #include <AP_Airspeed/AP_Airspeed_DroneCAN.h>
 #include <AP_OpticalFlow/AP_OpticalFlow_HereFlow.h>
@@ -813,6 +814,18 @@ void AP_DroneCAN::notify_state_send()
         msg.vehicle_state |= 1 << ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_STATE_THROW_READY;
     }
 
+#ifndef HAL_BUILD_AP_PERIPH
+    const AP_Vehicle* vehicle = AP::vehicle();
+    if (vehicle != nullptr) {
+        if (vehicle->is_landing()) {
+            msg.vehicle_state |= 1 << ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_STATE_IS_LANDING;
+        }
+        if (vehicle->is_taking_off()) {
+            msg.vehicle_state |= 1 << ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_STATE_IS_TAKING_OFF;
+        }
+    }
+#endif // HAL_BUILD_AP_PERIPH
+
     msg.aux_data_type = ARDUPILOT_INDICATION_NOTIFYSTATE_VEHICLE_YAW_EARTH_CENTIDEGREES;
     uint16_t yaw_cd = (uint16_t)(360.0f - degrees(AP::ahrs().get_yaw()))*100.0f;
     const uint8_t *data = (uint8_t *)&yaw_cd;