From 43f8f5d88eea1e93899c10fb0cceb70a6e1e7dd0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 17 Feb 2024 10:07:18 +1100
Subject: [PATCH] common.xml: add a command to deal with safety switch

decoding the old MODE message is a terrible way to do this
---
 message_definitions/v1.0/common.xml | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index ffb8e4e375..332259442a 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -1919,6 +1919,16 @@
         <param index="7">Reserved (set to 0)</param>
       </entry>
       <!-- END of UAVCAN range -->
+      <entry value="5300" name="MAV_CMD_DO_SET_SAFETY_SWITCH_STATE" hasLocation="false" isDestination="false">
+        <description>Change state of safety switch.</description>
+        <param index="1" label="Desired State" enum="SAFETY_SWITCH_STATE">New safety switch state.  SAFETY_SWITCH_STATE_UNKNOWN should be ignored.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
       <entry value="10001" name="MAV_CMD_DO_ADSB_OUT_IDENT" hasLocation="false" isDestination="false">
         <description>Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.</description>
         <param index="1">Reserved (set to 0)</param>
@@ -4123,6 +4133,17 @@
         <description>Mission has executed all mission items.</description>
       </entry>
     </enum>
+    <enum name="SAFETY_SWITCH_STATE">
+      <description>
+	Possible states the safety switch can be in.
+      </description>
+      <entry value="0" name="SAFETY_SWITCH_STATE_SAFEISH">
+        <description>Safety switch is engaged and vehicle safe-ish to approach..</description>
+      </entry>
+      <entry value="1" name="SAFETY_SWITCH_STATE_DANGEROUS">
+        <description>Safety switch is NOT engaged and whirling blades of death and/or flamethrowers may be active.</description>
+      </entry>
+    </enum>
   </enums>
   <messages>
     <message id="1" name="SYS_STATUS">