package mavsdk.rpc.modes

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Discover and set flight modes at runtime. The modes are queried from the vehicle using the MAVLink standard modes protocol (AVAILABLE_MODES, CURRENT_MODE). For autopilots that don't implement it, a list of known modes is used as a fallback. Modes are identified by name. Standard modes have a fixed name, e.g. "Position" or "Mission", other modes use the name reported by the vehicle. Setting a mode works the same way for both.

• rpc SetMode (SetModeRequest, SetModeResponse)

  modes.proto:35

  Set mode by name. The name needs to match exactly (case-sensitive) the name of one of the available modes.

  message SetModeRequest

  modes.proto:48

  • string name = 1

    Name of the mode to set

  message SetModeResponse

  modes.proto:51

  • optional ModesResult modes_result = 1

• rpc SubscribeAvailableModes (SubscribeAvailableModesRequest, stream AvailableModesResponse)

  modes.proto:25

  Subscribe to the list of available modes. The list is updated whenever the vehicle reports that its modes have changed.

  message SubscribeAvailableModesRequest

  modes.proto:38

  (message has no fields)

  message AvailableModesResponse

  modes.proto:39

  • repeated Mode modes = 1

    The available modes

• rpc SubscribeCurrentMode (SubscribeCurrentModeRequest, stream CurrentModeResponse)

  modes.proto:29

  Subscribe to the current mode.

  message SubscribeCurrentModeRequest

  modes.proto:43

  (message has no fields)

  message CurrentModeResponse

  modes.proto:44

  • optional Mode mode = 1

    The current mode

Mode type.

Used in: AvailableModesResponse, CurrentModeResponse

• string name = 1

  Name of the mode, e.g. "Position" or "Stabilize"

• uint32 custom_mode = 2

  Autopilot specific custom mode

• bool is_standard = 3

  True if this is a MAVLink standard mode, e.g. "Position" or "Mission"

• bool is_user_selectable = 4

  True if the mode can be set by the user

• bool is_advanced = 5

  True if the mode is for advanced users only

• bool is_auto_mode = 6

  True if the mode runs autonomously, e.g. Mission or Land

Result type.

Used in: SetModeResponse

• ModesResult.Result result = 1

  Result enum value

• string result_str = 2

  Human-readable English string describing the result

Possible results returned for mode requests.

Used in: ModesResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Request was successful

• RESULT_NO_SYSTEM = 2

  No system is connected

• RESULT_CONNECTION_ERROR = 3

  Connection error

• RESULT_BUSY = 4

  Vehicle is busy

• RESULT_DENIED = 5

  Request was denied, e.g. because the mode can't be entered right now

• RESULT_UNSUPPORTED = 6

  Mode or command is not supported

• RESULT_TIMEOUT = 7

  Request timed out

• RESULT_FAILED = 8

  Request failed

• RESULT_MODE_NOT_FOUND = 9

  No available mode with this name

• RESULT_MODES_NOT_KNOWN_YET = 10

  The available modes have not been received yet