AP_DDS: Status message includes external_control flag

ArduPilot · Oct 19, 2024 · 2551865 · 2551865
1 parent 4b1a421
commit 2551865
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diff --git a/Tools/ros2/ardupilot_msgs/msg/Status.msg b/Tools/ros2/ardupilot_msgs/msg/Status.msg
@@ -18,6 +18,7 @@ uint8 vehicle_type # From AP_Vehicle_Type.h
 bool armed # true if vehicle is armed.
 uint8 mode # Vehicle mode, enum depending on vehicle type.
 bool flying # True if flying/driving/diving/tracking.
+bool external_control # True is external control is enabled.
 
 uint8 FS_RADIO = 21
 uint8 FS_BATTERY = 22

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -610,6 +610,7 @@ bool AP_DDS_Client::update_topic(ardupilot_msgs_msg_Status& msg)
     msg.armed = hal.util->get_soft_armed();
     msg.mode = vehicle->get_mode();
     msg.flying = vehicle->get_likely_flying();
+    msg.external_control = true; // Always true for now. To be filled after PR#28429.
     uint8_t fs_iter = 0;
     msg.failsafe_size = 0;
     if (AP_Notify::flags.failsafe_radio) {

diff --git a/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl
@@ -36,6 +36,10 @@ module ardupilot_msgs {
         "true if vehicle is armed.")
       boolean armed;
 
+      @verbatim (language="comment", text=
+        "true is external control is enabled.")
+      boolean external_control;
+
       @verbatim (language="comment", text=
         "Vehicle mode, enum depending on vehicle type.")
       uint8 mode;