Rover: GCS can report simple/supersimple input modes

APMrover2/GCS_Rover.cpp

@@ -4,6 +4,22 @@
 
 #include <AP_RangeFinder/RangeFinder_Backend.h>
 
+bool GCS_Rover::simple_input_active() const
+{
+    if (rover.control_mode != &rover.mode_simple) {
+        return false;
+    }
+    return (rover.g2.simple_type == ModeSimple::Simple_InitialHeading);
+}
+
+bool GCS_Rover::supersimple_input_active() const
+{
+    if (rover.control_mode != &rover.mode_simple) {
+        return false;
+    }
+    return (rover.g2.simple_type == ModeSimple::Simple_CardinalDirections);
+}
+
 // update error mask of sensors and subsystems. The mask
 // uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
 // then it indicates that the sensor or subsystem is present but

APMrover2/GCS_Rover.h

@@ -24,6 +24,9 @@ public:
 
     void update_sensor_status_flags(void) override;
 
+    bool simple_input_active() const override;
+    bool supersimple_input_active() const override;
+
 private:
 
     GCS_MAVLINK_Rover _chan[MAVLINK_COMM_NUM_BUFFERS];

APMrover2/mode.h

@@ -615,14 +615,14 @@ public:
     void update() override;
     void init_heading();
 
-private:
-
     // simple type enum used for SIMPLE_TYPE parameter
     enum simple_type {
         Simple_InitialHeading = 0,
         Simple_CardinalDirections = 1,
     };
 
+private:
+
     float _initial_heading_cd;  // vehicle heading (in centi-degrees) at moment vehicle was armed
     float _desired_heading_cd;  // latest desired heading (in centi-degrees) from pilot
 };