package mavsdk.rpc.modes_server

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Provide the flight modes of an autopilot, the counterpart of the Modes plugin. The modes are announced using the MAVLink standard modes protocol (AVAILABLE_MODES, AVAILABLE_MODES_MONITOR, CURRENT_MODE). Once modes are set, this plugin also handles mode change requests (MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE and SET_MODE) for those modes, instead of the deprecated flight mode API of the ActionServer plugin.

• rpc RespondModeRequested (RespondModeRequestedRequest, RespondModeRequestedResponse)

  modes_server.proto:43

  Respond to the last mode change request. If the request is accepted, the requested mode becomes the current mode. Otherwise the vehicle stays in its current mode, e.g. if it can't switch to Position without GPS.

  message RespondModeRequestedRequest

  modes_server.proto:62

  • ModeFeedback mode_feedback = 1

    The answer to the request

  message RespondModeRequestedResponse

  modes_server.proto:65

  • optional ModesServerResult modes_server_result = 1

• rpc SetAvailableModes (SetAvailableModesRequest, SetAvailableModesResponse)

  modes_server.proto:27

  Set the modes the vehicle provides. Ground stations are told that the list changed so they download it again. From then on, mode change requests are handled by this plugin.

  message SetAvailableModesRequest

  modes_server.proto:50

  • repeated Mode modes = 1

    The available modes

  message SetAvailableModesResponse

  modes_server.proto:53

  • optional ModesServerResult modes_server_result = 1

• rpc SetCurrentMode (SetCurrentModeRequest, SetCurrentModeResponse)

  modes_server.proto:47

  Set the mode the vehicle is in.

  message SetCurrentModeRequest

  modes_server.proto:69

  • string name = 1

    Name of the mode, one of the available modes

  message SetCurrentModeResponse

  modes_server.proto:72

  • optional ModesServerResult modes_server_result = 1

• rpc SubscribeModeRequested (SubscribeModeRequestedRequest, stream ModeRequestedResponse)

  modes_server.proto:35

  Subscribe to mode change requests. Requests for a mode in the list are reported here and need to be answered with RespondModeRequested. Until then, the ground station is told that the request is in progress.

  message SubscribeModeRequestedRequest

  modes_server.proto:57

  (message has no fields)

  message ModeRequestedResponse

  modes_server.proto:58

  • optional Mode mode = 1

    The requested mode

Mode type.

Used in: ModeRequestedResponse, SetAvailableModesRequest

• string name = 1

  Name of the mode, for a standard mode one of the standard names, e.g. "Position" or "Mission"

• uint32 custom_mode = 2

  Autopilot specific custom mode, needs to be unique

• bool is_standard = 3

  True if this is a MAVLink standard mode

• 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

Possible answers to a mode change request.

Used in: RespondModeRequestedRequest

• MODE_FEEDBACK_UNKNOWN = 0

  Unknown

• MODE_FEEDBACK_ACCEPTED = 1

  The vehicle switches to the mode

• MODE_FEEDBACK_BUSY = 2

  The vehicle can't switch to the mode right now, e.g. it has no GPS

• MODE_FEEDBACK_DENIED = 3

  The vehicle doesn't allow switching to the mode

• MODE_FEEDBACK_FAILED = 4

  Switching to the mode failed

Result type.

Used in: RespondModeRequestedResponse, SetAvailableModesResponse, SetCurrentModeResponse

• ModesServerResult.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: ModesServerResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Request was successful

• RESULT_INVALID_MODES = 2

  Modes are invalid, e.g. none are given, a name or custom mode is used twice, or a standard mode name is unknown

• RESULT_MODE_NOT_FOUND = 3

  No available mode with this name

• RESULT_NO_REQUEST = 4

  There is no mode change request to respond to

• RESULT_INVALID_FEEDBACK = 5

  The feedback is unknown