Add optional preflight check for healthy MAVLink parachute system

2026-07-13 08:10:34 +08:00 · 2021-11-02 16:08:14 +01:00
parent 43c529f294
commit 3193b554ca
9 changed files with 91 additions and 0 deletions
@@ -2152,6 +2152,8 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)

 			case MAV_TYPE_PARACHUTE:
 				_heartbeat_type_parachute = now;
+				_mavlink->telemetry_status().parachute_system_healthy =
+					(hb.system_status == MAV_STATE_STANDBY) || (hb.system_status == MAV_STATE_ACTIVE);
 				break;

 			default: