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GCS_Mavlink: added is_crashed to mavlink heartbeat status which shows EMERGENCY

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Tom Pittenger 2015-07-29 14:44:44 -07:00 committed by Andrew Tridgell
parent da8f4f9e95
commit 6d0ad05192
1 changed files with 7 additions and 1 deletions
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8
ArduPlane/GCS_Mavlink.cpp
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@ -8,11 +8,17 @@
void Plane::send_heartbeat(mavlink_channel_t chan)
{
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
uint8_t system_status = is_flying() ? MAV_STATE_ACTIVE : MAV_STATE_STANDBY;
uint8_t system_status;
uint32_t custom_mode = control_mode;
if (failsafe.state != FAILSAFE_NONE) {
system_status = MAV_STATE_CRITICAL;
} else if (plane.auto_state.is_crashed) {
system_status = MAV_STATE_EMERGENCY;
} else if (is_flying()) {
system_status = MAV_STATE_ACTIVE;
} else {
system_status = MAV_STATE_STANDBY;
}
// work out the base_mode. This value is not very useful