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Bulk Request AVAILABLE_MODES instead of requesting each mode separately #14283

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Bulk Request AVAILABLE_MODES instead of requesting each mode separately #14283

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c72026a
bulk request AVAILABLE_MODES instead of requesting one by one
av-remco Apr 16, 2026
47e2f60
Merge branch 'master' into master
av-remco Apr 17, 2026
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153 changes: 73 additions & 80 deletions src/Vehicle/StandardModes.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -4,91 +4,86 @@

QGC_LOGGING_CATEGORY(StandardModesLog, "Vehicle.StandardModes")

static void requestMessageResultHandler(void *resultHandlerData, MAV_RESULT result,
[[maybe_unused]] Vehicle::RequestMessageResultHandlerFailureCode_t failureCode,
const mavlink_message_t &message)
static void commandResultHandler(void *resultHandlerData, [[maybe_unused]] int compId,
const mavlink_command_ack_t &ack,
[[maybe_unused]] Vehicle::MavCmdResultFailureCode_t failureCode)
{
StandardModes* standardModes = static_cast<StandardModes*>(resultHandlerData);
standardModes->gotMessage(result, message);
if (ack.result != MAV_RESULT_ACCEPTED) {
qCDebug(StandardModesLog) << "Failed to request available modes - MAV_RESULT" << ack.result;
emit standardModes->requestCompleted();
}
}

StandardModes::StandardModes(QObject *parent, Vehicle *vehicle)
: QObject(parent), _vehicle(vehicle)
{
}

void StandardModes::gotMessage(MAV_RESULT result, const mavlink_message_t &message)
void StandardModes::availableModesReceived(const mavlink_message_t &message)
{
_requestActive = false;
if (_wantReset) {
_wantReset = false;
request();
return;
mavlink_available_modes_t availableModes;
mavlink_msg_available_modes_decode(&message, &availableModes);
bool cannotBeSet = availableModes.properties & MAV_MODE_PROPERTY_NOT_USER_SELECTABLE;
bool advanced = availableModes.properties & MAV_MODE_PROPERTY_ADVANCED;
availableModes.mode_name[sizeof(availableModes.mode_name)-1] = '\0';
QString name = availableModes.mode_name;
switch (availableModes.standard_mode) {
case MAV_STANDARD_MODE_POSITION_HOLD:
name = "Position";
break;
case MAV_STANDARD_MODE_ORBIT:
name = "Orbit";
cannotBeSet = true; // These are exposed in the UI as separate buttons
break;
case MAV_STANDARD_MODE_CRUISE:
name = "Cruise";
break;
case MAV_STANDARD_MODE_ALTITUDE_HOLD:
name = "Altitude";
break;
case MAV_STANDARD_MODE_SAFE_RECOVERY:
name = "Safe Recovery";
break;
case MAV_STANDARD_MODE_MISSION:
name = "Mission";
break;
case MAV_STANDARD_MODE_LAND:
name = "Land";
break;
case MAV_STANDARD_MODE_TAKEOFF:
name = "Takeoff";
break;
}

if (result == MAV_RESULT_ACCEPTED) {
mavlink_available_modes_t availableModes;
mavlink_msg_available_modes_decode(&message, &availableModes);
bool cannotBeSet = availableModes.properties & MAV_MODE_PROPERTY_NOT_USER_SELECTABLE;
bool advanced = availableModes.properties & MAV_MODE_PROPERTY_ADVANCED;
availableModes.mode_name[sizeof(availableModes.mode_name)-1] = '\0';
QString name = availableModes.mode_name;
switch (availableModes.standard_mode) {
case MAV_STANDARD_MODE_POSITION_HOLD:
name = "Position";
break;
case MAV_STANDARD_MODE_ORBIT:
name = "Orbit";
cannotBeSet = true; // These are exposed in the UI as separate buttons
break;
case MAV_STANDARD_MODE_CRUISE:
name = "Cruise";
break;
case MAV_STANDARD_MODE_ALTITUDE_HOLD:
name = "Altitude";
break;
case MAV_STANDARD_MODE_SAFE_RECOVERY:
name = "Safe Recovery";
break;
case MAV_STANDARD_MODE_MISSION:
name = "Mission";
break;
case MAV_STANDARD_MODE_LAND:
name = "Land";
break;
case MAV_STANDARD_MODE_TAKEOFF:
name = "Takeoff";
break;
}

qCDebug(StandardModesLog) << "Available mode received - name:" << name <<
"index:" << availableModes.mode_index <<
"standard_mode:" << availableModes.standard_mode <<
"advanced:" << advanced <<
"cannotBeSet:" << cannotBeSet <<
"custom_mode:" << availableModes.custom_mode;
qCDebug(StandardModesLog) << "Available mode received - name:" << name <<
"index:" << availableModes.mode_index <<
"standard_mode:" << availableModes.standard_mode <<
"advanced:" << advanced <<
"cannotBeSet:" << cannotBeSet <<
"custom_mode:" << availableModes.custom_mode;

_modeList += FirmwareFlightMode{
name,
availableModes.standard_mode,
availableModes.custom_mode,
!cannotBeSet,
advanced,
true, // fixed wing - Since we don't know at this point we assume fixed wing support
true // multi-rotor - Since we don't know at this point we assume multi-rotor support as well
};
_modeList += FirmwareFlightMode{
name,
availableModes.standard_mode,
availableModes.custom_mode,
!cannotBeSet,
advanced,
true, // fixed wing - Since we don't know at this point we assume fixed wing support
true // multi-rotor - Since we don't know at this point we assume multi-rotor support as well
};

if (availableModes.mode_index >= availableModes.number_modes) { // We are done
qCDebug(StandardModesLog) << "Completed, num modes:" << availableModes.number_modes;
ensureUniqueModeNames();
_vehicle->firmwarePlugin()->updateAvailableFlightModes(_modeList);
emit modesUpdated();
emit requestCompleted();
} else {
requestMode(availableModes.mode_index + 1);
if (availableModes.mode_index >= availableModes.number_modes) { // We are done
_requestActive = false;
if (_wantReset) {
_wantReset = false;
request();
return;
}
} else {
qCDebug(StandardModesLog) << "Failed to retrieve available modes - REQUEST_MESSAGE:MAV_RESULT" << result;
qCDebug(StandardModesLog) << "Completed, num modes:" << availableModes.number_modes;
ensureUniqueModeNames();
_vehicle->firmwarePlugin()->updateAvailableFlightModes(_modeList);
emit modesUpdated();
emit requestCompleted();
}
}
Expand Down Expand Up @@ -117,19 +112,17 @@ void StandardModes::request()
}

qCDebug(StandardModesLog) << "Requesting available modes";
// Request one at a time. This could be improved by requesting all, but we can't use Vehicle::requestMessage for that
_modeList.clear();
StandardModes::requestMode(1);
}

void StandardModes::requestMode(int modeIndex)
{
_requestActive = true;
_vehicle->requestMessage(
requestMessageResultHandler,
this,
Vehicle::MavCmdAckHandlerInfo_t handlerInfo{};
handlerInfo.resultHandler = commandResultHandler;
handlerInfo.resultHandlerData = this;
_vehicle->sendMavCommandWithHandler(
&handlerInfo,
MAV_COMP_ID_AUTOPILOT1,
MAVLINK_MSG_ID_AVAILABLE_MODES, modeIndex);
MAV_CMD_REQUEST_MESSAGE,
MAVLINK_MSG_ID_AVAILABLE_MODES,
0); // param2=0: request all modes at once
}

void StandardModes::availableModesMonitorReceived(uint8_t seq)
Expand Down
4 changes: 1 addition & 3 deletions src/Vehicle/StandardModes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,15 +31,13 @@ Q_OBJECT

void availableModesMonitorReceived(uint8_t seq);

void gotMessage(MAV_RESULT result, const mavlink_message_t &message);
void availableModesReceived(const mavlink_message_t &message);

signals:
void modesUpdated();
void requestCompleted();

private:

void requestMode(int modeIndex);
void ensureUniqueModeNames();

Vehicle*const _vehicle;
Expand Down
3 changes: 3 additions & 0 deletions src/Vehicle/Vehicle.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -692,6 +692,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
QByteArray(reinterpret_cast<const char*>(ser.data), ser.count));
}
}
break;
case MAVLINK_MSG_ID_AVAILABLE_MODES:
_standardModes->availableModesReceived(message);
break;
case MAVLINK_MSG_ID_AVAILABLE_MODES_MONITOR:
{
Expand Down
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