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AP_DDS: status topic to report RC failsafe with callback function

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Tiziano Fiorenzani 2024-11-13 16:30:42 +00:00 committed by Peter Barker
parent c03960cba4
commit 86f216703d
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_DDS/AP_DDS_Client.cpp
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@ -632,15 +632,17 @@ bool AP_DDS_Client::update_topic(ardupilot_msgs_msg_Status& msg)
msg.external_control = true; // Always true for now. To be filled after PR#28429. msg.external_control = true; // Always true for now. To be filled after PR#28429.
uint8_t fs_iter = 0; uint8_t fs_iter = 0;
msg.failsafe_size = 0; msg.failsafe_size = 0;
if (AP_Notify::flags.failsafe_radio) { if (rc().in_rc_failsafe()) {
msg.failsafe[fs_iter++] = FS_RADIO; msg.failsafe[fs_iter++] = FS_RADIO;
} }
if (battery.has_failsafed()) { if (battery.has_failsafed()) {
msg.failsafe[fs_iter++] = FS_BATTERY; msg.failsafe[fs_iter++] = FS_BATTERY;
} }
// TODO: replace flag with function.
if (AP_Notify::flags.failsafe_gcs) { if (AP_Notify::flags.failsafe_gcs) {
msg.failsafe[fs_iter++] = FS_GCS; msg.failsafe[fs_iter++] = FS_GCS;
} }
// TODO: replace flag with function.
if (AP_Notify::flags.failsafe_ekf) { if (AP_Notify::flags.failsafe_ekf) {
msg.failsafe[fs_iter++] = FS_EKF; msg.failsafe[fs_iter++] = FS_EKF;
} }