1) control_state added to navdata message 2) Drone 1 tested w/ the driver.

msg/Navdata.msg

@@ -3,6 +3,11 @@ Header header
 # 0 means no battery, 100 means full battery
 float32 batteryPercent
 
+# 0: Unknown, 1: Init, 2: Landed, 3: Flying, 4: Hovering, 5: Test
+# 6: Taking off, 7: Goto Fix Point, 8: Landing, 9: Looping
+# Note: 3,7 seems to discriminate type of flying (isFly = 3 | 7)
+uint32 state
+
 # left/right tilt in degrees (rotation about the X axis)
 float32 rotX
 

src/ardrone_driver.cpp

@@ -267,7 +267,8 @@ void ARDroneDriver::publish_navdata()
 	ardrone_brown::Navdata msg;
 
 	msg.batteryPercent = navdata.vbat_flying_percentage;
-
+    msg.state = (navdata.ctrl_state >> 16);
+    
 	// positive means counterclockwise rotation around axis
 	msg.rotX = navdata.phi / 1000.0; // tilt left/right
 	msg.rotY = -navdata.theta / 1000.0; // tilt forward/backward