isflying added

dronekit/__init__.py

@@ -1013,6 +1013,16 @@ class Vehicle(HasObservers):
         to the project!
     """
 
+    MAV_STATE_UNINIT        = 0
+    MAV_STATE_BOOT          = 1
+    MAV_STATE_CALIBRATING   = 2
+    MAV_STATE_STANDBY       = 3
+    MAV_STATE_ACTIVE        = 4
+    MAV_STATE_CRITICAL      = 5
+    MAV_STATE_EMERGENCY     = 6
+    MAV_STATE_HILSIM        = 7
+    MAV_STATE_POWEROFF      = 8
+
     def __init__(self, handler):
         super(Vehicle, self).__init__()
 
@@ -1067,6 +1077,7 @@ def listener(self, name, m):
         self._heading = None
         self._airspeed = None
         self._groundspeed = None
+        self._isflying = False
 
         @self.on_message('VFR_HUD')
         def listener(self, name, m):
@@ -1790,6 +1801,18 @@ def system_status(self):
             7: SystemStatus('POWEROFF'),
         }.get(self._system_status, None)
 
+
+    @property
+    def isflying (self):
+        isFlying = ((self._system_status == Vehicle.MAV_STATE_ACTIVE) or 
+            ((self._isflying == True) and (self._system_status == Vehicle.MAV_STATE_CRITICAL or Vehicle._system_status == self.MAV_STATE_EMERGENCY)))
+
+        self._isflying = isFlying        
+
+        return self._isflying
+
+
+
     @property
     def heading(self):
         """

examples/vehicle_state/vehicle_state.py

@@ -77,6 +77,7 @@
 print " Rangefinder voltage: %s" % vehicle.rangefinder.voltage
 print " Heading: %s" % vehicle.heading
 print " Is Armable?: %s" % vehicle.is_armable
+print " Is Flying: %s" % vehicle.isflying
 print " System status: %s" % vehicle.system_status.state
 print " Groundspeed: %s" % vehicle.groundspeed    # settable
 print " Airspeed: %s" % vehicle.airspeed    # settable