In HEARTBEAT( Msg id 0) consist of arm/disarm status but it not show directly
arm/disarm these stored in base_mode field describe by MAV_MODE_FLAG
HEARTBEAT Message Structure
MAV_MODE_FLAG
As you can see MAV_MODE_FLAG_SAFETY_ARMED 0b10000000 is arm/disarm bit
so we can write simple code to check arm/disarm status from base_mode like these
base_mode & MOTORS_ARMED) >> 7
output is 1 when armed, 0 when disarm
Ref :
https://pixhawk.ethz.ch/mavlink/
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