GCS_MAVLink: support send_extended_sys_state

libraries/GCS_MAVLink/GCS.h

@@ -98,6 +98,7 @@ enum ap_message : uint8_t {
     MSG_ORIGIN,
     MSG_HOME,
     MSG_NAMED_FLOAT,
+    MSG_EXTENDED_SYS_STATE,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };
 
@@ -216,6 +217,7 @@ public:
 #endif
     virtual void send_attitude() const;
     void send_autopilot_version() const;
+    void send_extended_sys_state() const;
     void send_local_position() const;
     void send_vfr_hud();
     void send_vibration() const;
@@ -305,6 +307,9 @@ protected:
     virtual uint32_t custom_mode() const = 0;
     virtual MAV_STATE system_status() const = 0;
 
+    virtual MAV_VTOL_STATE vtol_state() const { return MAV_VTOL_STATE_UNDEFINED; }
+    virtual MAV_LANDED_STATE landed_state() const { return MAV_LANDED_STATE_UNDEFINED; }
+
     bool            waypoint_receiving; // currently receiving
     // the following two variables are only here because of Tracker
     uint16_t        waypoint_request_i; // request index

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -946,6 +946,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_BATTERY_STATUS,        MSG_BATTERY_STATUS},
         { MAVLINK_MSG_ID_AOA_SSA,               MSG_AOA_SSA},
         { MAVLINK_MSG_ID_DEEPSTALL,             MSG_LANDING},
+        { MAVLINK_MSG_ID_EXTENDED_SYS_STATE,    MSG_EXTENDED_SYS_STATE},
             };
 
     for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
@@ -3855,6 +3856,11 @@ void GCS_MAVLINK::send_sys_status()
         0, 0, 0, 0);
 }
 
+void GCS_MAVLINK::send_extended_sys_state() const
+{
+    mavlink_msg_extended_sys_state_send(chan, vtol_state(), landed_state());
+}
+
 void GCS_MAVLINK::send_attitude() const
 {
     const AP_AHRS &ahrs = AP::ahrs();
@@ -4154,6 +4160,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_ahrs();
         break;
 
+    case MSG_EXTENDED_SYS_STATE:
+        CHECK_PAYLOAD_SIZE(EXTENDED_SYS_STATE);
+        send_extended_sys_state();
+        break;
+
     case MSG_VFR_HUD:
         CHECK_PAYLOAD_SIZE(VFR_HUD);
         send_vfr_hud();