How to determine MAV_TYPE of connected System?

The Mavlink heartbeat message contains a MAV_TYPE field which specifies the type of the connected vehicle e.g. Fixed Wing, Quadrotor, Ground Rover, etc.

However, this does not appear to be exposed in the MAVSDK C++ API.

What is the intended method of determining vehicle type?
Can I process the heartbeats myself?

I’m surely not the first to encounter this issue, yet I wasn’t able to find anything relevant when searching the MAVSDK Github issues, this forum nor Google.

Is there something simple I’m missing?

Appreciate some insights.

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