AP_DDS: status topic to report RC failsafe with callback function

SnapDragonfly · Nov 14, 2024 · 86f2167 · 86f2167
1 parent c03960c
commit 86f2167
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -632,15 +632,17 @@ bool AP_DDS_Client::update_topic(ardupilot_msgs_msg_Status& msg)
     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) {
+    if (rc().in_rc_failsafe()) {
         msg.failsafe[fs_iter++] = FS_RADIO;
     }
     if (battery.has_failsafed()) {
         msg.failsafe[fs_iter++] = FS_BATTERY;
     }
+    // TODO: replace flag with function.
     if (AP_Notify::flags.failsafe_gcs) {
         msg.failsafe[fs_iter++] = FS_GCS;
     }
+    // TODO: replace flag with function.
     if (AP_Notify::flags.failsafe_ekf) {
         msg.failsafe[fs_iter++] = FS_EKF;
     }