HEARTBEAT and commander failsafe handling cleanup

msg/telemetry_status.msg

@@ -1,18 +1,41 @@
-uint64 timestamp			# time since system start (microseconds)
+uint8 LINK_TYPE_GENERIC = 0
+uint8 LINK_TYPE_3DR_RADIO = 1
+uint8 LINK_TYPE_UBIQUITY_BULLET = 2
+uint8 LINK_TYPE_WIRE = 3
+uint8 LINK_TYPE_USB = 4
+uint8 LINK_TYPE_IRIDIUM	= 5
 
-uint8 TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0
-uint8 TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO = 1
-uint8 TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET = 2
-uint8 TELEMETRY_STATUS_RADIO_TYPE_WIRE = 3
-uint8 TELEMETRY_STATUS_RADIO_TYPE_USB = 4
-uint8 TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM = 5
+# MAV_COMPONENT (fill in as needed)
+uint8 COMPONENT_ID_ALL = 0
+uint8 COMPONENT_ID_AUTOPILOT1 = 1
+uint8 COMPONENT_ID_CAMERA = 100
+
+# MAV_TYPE (fill in as needed)
+uint8 MAV_TYPE_GENERIC = 0
+uint8 MAV_TYPE_GCS = 6
+uint8 MAV_TYPE_ONBOARD_CONTROLLER = 18
+
+# MAV_STATE
+uint8 MAV_STATE_UNINIT = 0
+uint8 MAV_STATE_BOOT = 1
+uint8 MAV_STATE_CALIBRATING = 2
+uint8 MAV_STATE_STANDBY = 3
+uint8 MAV_STATE_ACTIVE = 4
+uint8 MAV_STATE_CRITICAL = 5
+uint8 MAV_STATE_EMERGENCY = 6
+uint8 MAV_STATE_POWEROFF = 7
+uint8 MAV_STATE_FLIGHT_TERMINATION = 8
+
+uint64 timestamp			# time since system start (microseconds)
 
 uint64 heartbeat_time			# Time of last received heartbeat from remote system
 
-uint8 type				# type of the radio hardware
+uint8 remote_system_id			# system id of the remote system (Mavlink header sys_id)
+uint8 remote_component_id		# component id of the remote system (Mavlink header comp_id)
+uint8 remote_type			# remote system status flag (Mavlink MAV_TYPE)
+uint8 remote_system_status		# remote system status flag (Mavlink MAV_STATE)
 
-uint8 system_id				# system id of the remote system
-uint8 component_id			# component id of the remote system
+uint8 type				# type of the radio hardware
 
 uint8 mode