From 87988d65c5efacf13d93b74834cc825904979428 Mon Sep 17 00:00:00 2001
From: Tiziano Fiorenzani <tiziano.fiorenzani@gmail.com>
Date: Sat, 19 Oct 2024 21:43:44 +0000
Subject: [PATCH] AP_DDS: Status message includes external_control flag

---
 Tools/ros2/ardupilot_msgs/msg/Status.msg           | 1 +
 libraries/AP_DDS/AP_DDS_Client.cpp                 | 1 +
 libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl | 4 ++++
 3 files changed, 6 insertions(+)

diff --git a/Tools/ros2/ardupilot_msgs/msg/Status.msg b/Tools/ros2/ardupilot_msgs/msg/Status.msg
index 2b569f0dd7770..38ff02804d12c 100644
--- a/Tools/ros2/ardupilot_msgs/msg/Status.msg
+++ b/Tools/ros2/ardupilot_msgs/msg/Status.msg
@@ -18,6 +18,7 @@ uint8 vehicle_type # From AP_Vehicle_Type.h
 bool armed # true if vehicle is armed.
 uint8 mode # Vehicle mode, enum depending on vehicle type.
 bool flying # True if flying/driving/diving/tracking.
+bool external_control # True is external control is enabled.
 
 uint8 FS_RADIO = 21
 uint8 FS_BATTERY = 22
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 2fc5caf10d30b..c0d707aa8a8aa 100644
--- a/libraries/AP_DDS/AP_DDS_Client.cpp
+++ b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -617,6 +617,7 @@ bool AP_DDS_Client::update_topic(ardupilot_msgs_msg_Status& msg)
     msg.armed = hal.util->get_soft_armed();
     msg.mode = vehicle->get_mode();
     msg.flying = vehicle->get_likely_flying();
+    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) {
diff --git a/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl
index 555aed78bc7bb..775353e17438a 100644
--- a/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl
+++ b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl
@@ -36,6 +36,10 @@ module ardupilot_msgs {
         "true if vehicle is armed.")
       boolean armed;
 
+      @verbatim (language="comment", text=
+        "true is external control is enabled.")
+      boolean external_control;
+
       @verbatim (language="comment", text=
         "Vehicle mode, enum depending on vehicle type.")
       uint8 mode;