Vehicle.cc

    cmd.param5 = 0.0f;
    cmd.param6 = 0.0f;
    cmd.param7 = 0.0f;
    cmd.target_system = id();
    cmd.target_component = 0;
    
    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);
    
    sendMessage(msg);
}

bool Vehicle::flightModeSetAvailable(void)
{
    return _firmwarePlugin->isCapable(FirmwarePlugin::SetFlightModeCapability);
}

QStringList Vehicle::flightModes(void)
{
    return _firmwarePlugin->flightModes();
}

QString Vehicle::flightMode(void)
{
    return _firmwarePlugin->flightMode(_base_mode, _custom_mode);
}

void Vehicle::setFlightMode(const QString& flightMode)
{
    uint8_t     base_mode;
    uint32_t    custom_mode;

    if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
        // setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
        // states.
        uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE;
        newBaseMode |= base_mode;

        mavlink_message_t msg;
        mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, custom_mode);
        sendMessage(msg);
    } else {
        qCWarning(VehicleLog) << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
    }
}

bool Vehicle::hilMode(void)
{
    return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
}

void Vehicle::setHilMode(bool hilMode)
{
    mavlink_message_t msg;

    uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_HIL;
    if (hilMode) {
        newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
    }

    mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, _custom_mode);
    sendMessage(msg);
}

bool Vehicle::missingParameters(void)
{
    return _autopilotPlugin->missingParameters();
}