From 14efc602a7724bd767c68e5edbce8eeb1b19c47b Mon Sep 17 00:00:00 2001
From: tstellanova <tstellanova+github@gmail.com>
Date: Mon, 22 Jul 2013 15:44:32 -0700
Subject: [PATCH] show full flight mode status

---
 src/uas/UAS.cc | 60 ++++++++++++++++++++++++++++++--------------------
 1 file changed, 36 insertions(+), 24 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 3076f3292..9b1556426 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -3325,45 +3325,55 @@ QString UAS::getAudioModeTextFor(int id)
     return mode;
 }
 
+/**
+* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
+* @return the short text of the mode for the id given.
+*/
 /**
 * The mode returned can be auto, stabilized, test, manual, preflight or unknown.
 * @return the short text of the mode for the id given.
 */
 QString UAS::getShortModeTextFor(int id)
 {
-    QString mode;
+    QString mode = "";
     uint8_t modeid = id;
 
-    qDebug() << "MODE:" << modeid;
 
     // BASE MODE DECODING
-    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
-    {
-        mode += "|AUTO";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
-    {
-        mode += "|VECTOR";
-    }
-    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
-    {
-        mode += "|STABILIZED";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
-    {
-        mode += "|TEST";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
-    {
-        mode += "|MANUAL";
-    }
-    else if (modeid == 0)
+
+    if (modeid == 0)
     {
         mode = "|PREFLIGHT";
     }
-    else
+    else {
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO){
+            mode += "|AUTO";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL){
+            mode += "|MANUAL";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED){
+            mode += "|VECTOR";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE){
+            mode += "|STABILIZED";
+        }
+
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST){
+            mode += "|TEST";
+        }
+
+
+    }
+
+    if (mode.length() == 0)
     {
         mode = "|UNKNOWN";
+        qDebug() << __FILE__ << __LINE__ << " Unknown modeid: " << modeid;
     }
 
     // ARMED STATE DECODING
@@ -3382,6 +3392,8 @@ QString UAS::getShortModeTextFor(int id)
         mode.prepend("HIL:");
     }
 
+    qDebug() << "MODE: " << modeid << " " << mode;
+
     return mode;
 }
 
-- 
2.22.0