From 88840eb7591656c56609eecea818a0aa5853507e Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Sat, 9 Feb 2013 10:11:26 +0800
Subject: [PATCH] Send FS state to gcs for AP

---
 ArduPlane/GCS_Mavlink.pde | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index d30052c608..675a418609 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -27,6 +27,10 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
     uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
     uint8_t system_status = MAV_STATE_ACTIVE;
     uint32_t custom_mode = control_mode;
+    
+    if (failsafe != FAILSAFE_NONE) {
+        system_status = MAV_STATE_CRITICAL;
+    }
 
     // work out the base_mode. This value is not very useful
     // for APM, but we calculate it as best we can so a generic