Plane: support send_extended_sys_state

ArduPlane/GCS_Mavlink.cpp

@@ -1417,3 +1417,27 @@ int8_t GCS_MAVLINK_Plane::high_latency_air_temperature() const
     return INT8_MIN;
 }
 #endif // HAL_HIGH_LATENCY2_ENABLED
+
+MAV_VTOL_STATE GCS_MAVLINK_Plane::vtol_state() const
+{
+#if !HAL_QUADPLANE_ENABLED
+    return MAV_VTOL_STATE_UNDEFINED;
+#else
+    if (!plane.quadplane.available()) {
+        return MAV_VTOL_STATE_UNDEFINED;
+    }
+
+    return plane.quadplane.transition->get_mav_vtol_state();
+#endif
+};
+
+MAV_LANDED_STATE GCS_MAVLINK_Plane::landed_state() const
+{
+    if (plane.is_flying()) {
+        // note that Q-modes almost always consider themselves as flying
+        return MAV_LANDED_STATE_IN_AIR;
+    }
+
+    return MAV_LANDED_STATE_ON_GROUND;
+}
+

ArduPlane/GCS_Mavlink.h

@@ -71,4 +71,8 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
     uint8_t high_latency_wind_direction() const override;
     int8_t high_latency_air_temperature() const override;
 #endif // HAL_HIGH_LATENCY2_ENABLED
+
+    MAV_VTOL_STATE vtol_state() const override;
+    MAV_LANDED_STATE landed_state() const override;
+
 };

ArduPlane/quadplane.cpp

@@ -3687,4 +3687,28 @@ bool SLT_Transition::active() const
     return quadplane.assisted_flight && ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER));
 }
 
+MAV_VTOL_STATE SLT_Transition::get_mav_vtol_state() const
+{
+    if (quadplane.in_vtol_mode()) {
+        QuadPlane::position_control_state state = quadplane.poscontrol.get_state();
+        if ((state == QuadPlane::position_control_state::QPOS_AIRBRAKE) || (state == QuadPlane::position_control_state::QPOS_POSITION1)) {
+            return MAV_VTOL_STATE_TRANSITION_TO_MC;
+        }
+        return MAV_VTOL_STATE_MC;
+    }
+
+    switch (transition_state) {
+        case TRANSITION_AIRSPEED_WAIT:
+        case TRANSITION_TIMER:
+            // we enter this state during assisted flight, not just
+            // during a forward transition.
+            return MAV_VTOL_STATE_TRANSITION_TO_FW;
+
+        case TRANSITION_DONE:
+            return MAV_VTOL_STATE_FW;
+    }
+
+    return MAV_VTOL_STATE_UNDEFINED;
+}
+
 #endif  // HAL_QUADPLANE_ENABLED

ArduPlane/tailsitter.cpp

@@ -786,5 +786,24 @@ void Tailsitter_Transition::restart()
     transition_initial_pitch = constrain_float(quadplane.ahrs_view->pitch_sensor,-8500,8500);
 };
 
+MAV_VTOL_STATE Tailsitter_Transition::get_mav_vtol_state() const
+{
+    switch (transition_state) {
+        case TRANSITION_ANGLE_WAIT_VTOL:
+            return MAV_VTOL_STATE_TRANSITION_TO_MC;
+
+        case TRANSITION_DONE:
+            return MAV_VTOL_STATE_FW;
+
+        case TRANSITION_ANGLE_WAIT_FW: {
+            if (quadplane.in_vtol_mode()) {
+                return MAV_VTOL_STATE_MC;
+            }
+            return MAV_VTOL_STATE_TRANSITION_TO_FW;
+        }
+    }
+
+    return MAV_VTOL_STATE_UNDEFINED;
+}
 
 #endif  // HAL_QUADPLANE_ENABLED

ArduPlane/tailsitter.h

@@ -148,6 +148,8 @@ friend class Tailsitter;
 
     void set_FW_roll_pitch(int32_t& nav_pitch_cd, int32_t& nav_roll_cd, bool& allow_stick_mixing) override;
 
+    MAV_VTOL_STATE get_mav_vtol_state() const override;
+
 private:
 
     enum {

ArduPlane/transition.h

@@ -13,6 +13,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 #pragma once
+#include <GCS_MAVLink/GCS.h>
 
 class QuadPlane;
 class AP_MotorsMulticopter;
@@ -47,6 +48,8 @@ class Transition
 
     virtual bool update_yaw_target(float& yaw_target_cd) { return false; }
 
+    virtual MAV_VTOL_STATE get_mav_vtol_state() const = 0;
+
 protected:
 
     // refences for convenience
@@ -86,6 +89,8 @@ class SLT_Transition : public Transition
 
     bool allow_update_throttle_mix() const override;
 
+    MAV_VTOL_STATE get_mav_vtol_state() const override;
+
 protected:
 
     enum {