From 2b70dd394d6e63ef884ebb0f1a73f5b7f30f6f55 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 7 May 2014 08:51:24 +0200
Subject: [PATCH] Fix the received mode flag

---
 src/uas/UAS.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index fd6cfb7db..d92c02472 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -594,7 +594,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if (this->base_mode != state.base_mode || this->custom_mode != state.custom_mode)
             {
                 modechanged = true;
-                receivedMode = true;
                 this->base_mode = state.base_mode;
                 this->custom_mode = state.custom_mode;
                 shortModeText = getShortModeTextFor(this->base_mode, this->custom_mode, this->autopilot);
@@ -604,6 +603,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 modeAudio = " is now in " + audiomodeText;
             }
 
+            // We got the mode
+            receivedMode = true;
+
             // AUDIO
             if (modechanged && statechanged)
             {
-- 
2.22.0