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Fix ArduPilot "flying" determination

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This commit is contained in:
Don Gagne
2025-02-16 09:44:45 -08:00
committed by Don Gagne
parent 016e8b5e01
commit 6a965b92df
1 changed files with 4 additions and 9 deletions
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src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+4 -9
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@@ -279,20 +279,15 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* /*vehicle*/, mavlink_
void APMFirmwarePlugin::_handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
{
bool flying = false;
mavlink_heartbeat_t heartbeat;
mavlink_msg_heartbeat_decode(message, &heartbeat);
if (message->compid == MAV_COMP_ID_AUTOPILOT1) {
// We pull Vehicle::flying state from HEARTBEAT on ArduPilot. This is a firmware specific test.
if (vehicle->armed()) {
bool flying = false;
flying = heartbeat.system_status == MAV_STATE_ACTIVE;
if (!flying && vehicle->flying()) {
// If we were previously flying, and we go into critical or emergency assume we are still flying
flying = heartbeat.system_status == MAV_STATE_CRITICAL || heartbeat.system_status == MAV_STATE_EMERGENCY;
}
// We pull Vehicle::flying state from HEARTBEAT on ArduPilot. This is a firmware specific test.
if (vehicle->armed() && (heartbeat.system_status == MAV_STATE_ACTIVE || heartbeat.system_status == MAV_STATE_CRITICAL || heartbeat.system_status == MAV_STATE_EMERGENCY)) {
flying = true;
}
vehicle->_setFlying(flying);
}