Rover: add name4() to Mode and use it for AP_Notify calls

APMrover2/Rover.h

@@ -562,7 +562,7 @@ private:
     void resetPerfData(void);
     void check_usb_mux(void);
     void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
-    void notify_mode(enum mode new_mode);
+    void notify_mode(const Mode *new_mode);
     uint8_t check_digital_pin(uint8_t pin);
     bool should_log(uint32_t mask);
     void change_arm_state(void);

APMrover2/mode.h

@@ -25,6 +25,9 @@ public:
     // returns a unique number specific to this mode
     virtual uint32_t mode_number() const = 0;
 
+    // returns short text name (up to 4 bytes)
+    virtual const char *name4() const = 0;
+
     //
     // methods that sub classes should override to affect movement of the vehicle in this mode
     //
@@ -150,6 +153,7 @@ class ModeAcro : public Mode
 public:
 
     uint32_t mode_number() const override { return ACRO; }
+    const char *name4() const override { return "ACRO"; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -167,6 +171,7 @@ public:
     ModeAuto(ModeRTL& mode_rtl);
 
     uint32_t mode_number() const override { return AUTO; }
+    const char *name4() const override { return "AUTO"; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -226,6 +231,7 @@ class ModeGuided : public Mode
 public:
 
     uint32_t mode_number() const override { return GUIDED; }
+    const char *name4() const override { return "GUID"; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -269,6 +275,7 @@ class ModeHold : public Mode
 public:
 
     uint32_t mode_number() const override { return HOLD; }
+    const char *name4() const override { return "HOLD"; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -283,6 +290,7 @@ class ModeManual : public Mode
 public:
 
     uint32_t mode_number() const override { return MANUAL; }
+    const char *name4() const override { return "MANU"; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -301,6 +309,7 @@ class ModeRTL : public Mode
 public:
 
     uint32_t mode_number() const override { return RTL; }
+    const char *name4() const override { return "RTL"; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -323,6 +332,7 @@ class ModeSteering : public Mode
 public:
 
     uint32_t mode_number() const override { return STEERING; }
+    const char *name4() const override { return "STER"; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -336,6 +346,7 @@ class ModeInitializing : public Mode
 public:
 
     uint32_t mode_number() const override { return INITIALISING; }
+    const char *name4() const override { return "INIT"; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override { }

APMrover2/system.cpp

@@ -58,7 +58,7 @@ void Rover::init_ardupilot()
     // initialise notify system
     notify.init(false);
     AP_Notify::flags.failsafe_battery = false;
-    notify_mode((enum mode)control_mode->mode_number());
+    notify_mode(control_mode);
 
     ServoRelayEvents.set_channel_mask(0xFFF0);
 
@@ -238,7 +238,7 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
     control_mode_reason = reason;
     DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
 
-    notify_mode((enum mode)control_mode->mode_number());
+    notify_mode(control_mode);
     return true;
 }
 
@@ -282,39 +282,10 @@ void Rover::check_usb_mux(void)
 }
 
 // update notify with mode change
-void Rover::notify_mode(enum mode new_mode)
+void Rover::notify_mode(const Mode *mode)
 {
-    notify.flags.flight_mode = new_mode;
-
-    switch (new_mode) {
-    case MANUAL:
-        notify.set_flight_mode_str("MANU");
-        break;
-    case ACRO:
-        notify.set_flight_mode_str("ACRO");
-        break;
-    case STEERING:
-        notify.set_flight_mode_str("STER");
-        break;
-    case HOLD:
-        notify.set_flight_mode_str("HOLD");
-        break;
-    case AUTO:
-        notify.set_flight_mode_str("AUTO");
-        break;
-    case RTL:
-        notify.set_flight_mode_str("RTL");
-        break;
-    case GUIDED:
-        notify.set_flight_mode_str("GUID");
-        break;
-    case INITIALISING:
-        notify.set_flight_mode_str("INIT");
-        break;
-    default:
-        notify.set_flight_mode_str("----");
-        break;
-    }
+    notify.flags.flight_mode = mode->mode_number();
+    notify.set_flight_mode_str(mode->name4());
 }
 
 /*