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Copter: send_available_mode report custom scripting modes

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Iampete1 2024-11-14 16:00:24 +00:00 committed by Randy Mackay
parent d3ffa2e56a
commit 551a7b8a20
1 changed files with 31 additions and 3 deletions
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34
ArduCopter/GCS_Mavlink.cpp
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@ -1742,7 +1742,16 @@ uint8_t GCS_MAVLINK_Copter::send_available_mode(uint8_t index) const
#endif
};
const uint8_t mode_count = ARRAY_SIZE(modes);
const uint8_t base_mode_count = ARRAY_SIZE(modes);
uint8_t mode_count = base_mode_count;
#if AP_SCRIPTING_ENABLED
for (uint8_t i = 0; i < ARRAY_SIZE(copter.mode_guided_custom); i++) {
if (copter.mode_guided_custom[i] != nullptr) {
mode_count += 1;
}
}
#endif
// Convert to zero indexed
const uint8_t index_zero = index - 1;
@ -1752,8 +1761,27 @@ uint8_t GCS_MAVLINK_Copter::send_available_mode(uint8_t index) const
}
// Ask the mode for its name and number
const char* name = modes[index_zero]->name();
uint8_t mode_number = (uint8_t)modes[index_zero]->mode_number();
const char* name;
uint8_t mode_number;
if (index_zero < base_mode_count) {
name = modes[index_zero]->name();
mode_number = (uint8_t)modes[index_zero]->mode_number();
} else {
#if AP_SCRIPTING_ENABLED
const uint8_t custom_index = index_zero - base_mode_count;
if (copter.mode_guided_custom[custom_index] == nullptr) {
// Invalid index, should not happen
return mode_count;
}
name = copter.mode_guided_custom[custom_index]->name();
mode_number = (uint8_t)copter.mode_guided_custom[custom_index]->mode_number();
#else
// Should not endup here
return mode_count;
#endif
}
#if MODE_AUTO_ENABLED
// Auto RTL is odd