Sub: Add maneuver/attitude stick mode indicator msg

ArduSub/GCS_Mavlink.cpp

@@ -431,6 +431,13 @@ bool NOINLINE Sub::send_info(mavlink_channel_t chan)
             "InputHold",
             input_hold_engaged);
 
+    CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
+    mavlink_msg_named_value_float_send(
+            chan,
+            AP_HAL::millis(),
+            "StickMode",
+            roll_pitch_flag);
+
     return true;
 }
 

ArduSub/Sub.h

@@ -336,6 +336,9 @@ private:
     // Flag indicating if we are currently using input hold
     bool input_hold_engaged;
 
+    // Flag indicating current stick mode: Maneuver/Attitude
+    uint16_t roll_pitch_flag;
+
     // 3D Location vectors
     // Current location of the Sub (altitude is relative to home)
     Location_Class current_loc;

ArduSub/joystick.cpp

@@ -22,8 +22,6 @@ uint16_t buttons_prev;
 const uint8_t SERVO_CHAN_1 = 9; // Pixhawk Aux1
 const uint8_t SERVO_CHAN_2 = 10; // Pixhawk Aux2
 const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3
-
-uint8_t roll_pitch_flag = false; // Flag to adjust roll/pitch instead of forward/lateral
 }
 
 void Sub::init_joystick()