From b782d24f8749bf900de0c2b841c2607fb9027ad6 Mon Sep 17 00:00:00 2001
From: richaravoil <matthieukerneis@gmail.com>
Date: Wed, 12 Jun 2024 17:15:49 +0200
Subject: [PATCH] ArduCopter: get MAV_STATE_BOOT on reboot

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
---
 ArduCopter/GCS_Mavlink.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index b1eaaa0fdd020..1946f95068e6b 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -89,6 +89,10 @@ MAV_STATE GCS_MAVLINK_Copter::vehicle_system_status() const
         return MAV_STATE_STANDBY;
     }
 
+    if (!copter.ap.initialised) {
+    	return MAV_STATE_BOOT;
+    }
+
     return MAV_STATE_ACTIVE;
 }