diff --git a/src/AutoPilotPlugins/AutoPilotPluginManager.cc b/src/AutoPilotPlugins/AutoPilotPluginManager.cc
index 086400fe242e711f6784fd9ffa5c1fd5748cd444..80172536b3436e24838a7c002792e796cb4397f3 100644
--- a/src/AutoPilotPlugins/AutoPilotPluginManager.cc
+++ b/src/AutoPilotPlugins/AutoPilotPluginManager.cc
@@ -124,6 +124,17 @@ QList<AutoPilotPluginManager::FullMode_t> AutoPilotPluginManager::getModes(int a
     }
 }
 
+QString AutoPilotPluginManager::getAudioModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const
+{
+    switch (autopilotType) {
+        case MAV_AUTOPILOT_PX4:
+            return PX4AutoPilotPlugin::getAudioModeText(baseMode, customMode);
+        case MAV_AUTOPILOT_GENERIC:
+        default:
+            return GenericAutoPilotPlugin::getAudioModeText(baseMode, customMode);
+    }
+}
+
 QString AutoPilotPluginManager::getShortModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const
 {
     switch (autopilotType) {
diff --git a/src/AutoPilotPlugins/AutoPilotPluginManager.h b/src/AutoPilotPlugins/AutoPilotPluginManager.h
index aa3808bae42c5b93164b04583d62542a211d63a8..9abc6993589daec50605796c45e4c36b1222aac4 100644
--- a/src/AutoPilotPlugins/AutoPilotPluginManager.h
+++ b/src/AutoPilotPlugins/AutoPilotPluginManager.h
@@ -63,6 +63,9 @@ public:
     /// @brief Returns a human readable short description for the specified mode.
     QString getShortModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const;
 
+    /// @brief Returns a human hearable short description for the specified mode.
+    QString getAudioModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const;
+
 private slots:
     void _uasCreated(UASInterface* uas);
     void _uasDeleted(UASInterface* uas);
diff --git a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
index f2ddfac47d791dfdd2bfa41789ddd7dfc87c0446..3f0fbcc1aed5b2679ba2482eb16ef30bf5cd4647 100644
--- a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
@@ -60,6 +60,15 @@ QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
     return modeList;
 }
 
+QString GenericAutoPilotPlugin::getAudioModeText(uint8_t baseMode, uint32_t customMode)
+{
+    Q_UNUSED(customMode);
+
+    QString mode = "";
+
+    return mode;
+}
+
 QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
 {
     Q_UNUSED(customMode);
diff --git a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h
index 87f37de0880c17be7fdee1c3c3edb8edd481655d..c9b2848e30895d861f0ee28ea597b806ff2c962a 100644
--- a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h
@@ -44,6 +44,7 @@ public:
     virtual const QVariantList& vehicleComponents(void);
 
     static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
+    static QString getAudioModeText(uint8_t baseMode, uint32_t customMode);
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
     static void clearStaticData(void);
     
diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
index 643fe81f6824a0ad31e8ff27cc58a04933c6fe6e..c282deb2d291e115dad3dd168aa4a8865cf1c540 100644
--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -141,6 +141,63 @@ QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)
     return modeList;
 }
 
+QString PX4AutoPilotPlugin::getAudioModeText(uint8_t baseMode, uint32_t customMode)
+{
+    QString mode;
+
+    Q_ASSERT(baseMode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED);
+
+    if (baseMode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
+        union px4_custom_mode px4_mode;
+        px4_mode.data = customMode;
+
+        if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
+            mode = "manual";
+        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
+            mode = "caro";
+        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
+            mode = "stabilized";
+        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
+            mode = "altitude control";
+        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
+            mode = "position control";
+        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
+            mode = "auto and ";
+            if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_READY) {
+                mode += "ready";
+            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF) {
+                mode += "taking off";
+            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LOITER) {
+                mode += "loitering";
+            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_MISSION) {
+                mode += "following waypoints";
+            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_RTL) {
+                mode += "returning to land";
+            } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LAND) {
+                mode += "landing";
+            }
+        } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
+            mode = "offboard controlled";
+        }
+
+        if (baseMode != 0)
+        {
+            mode += " mode";
+        }
+
+        // ARMED STATE DECODING
+        if (baseMode & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
+        {
+            mode.append(" and armed");
+        }
+
+    } else {
+        mode = "";
+    }
+
+    return mode;
+}
+
 QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
 {
     QString mode;
diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
index e757900d452541536a7390649492c4c44a033671..d391e361315b9d4985480cf12bcbd8c48392712c 100644
--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
@@ -53,6 +53,7 @@ public:
     virtual const QVariantList& vehicleComponents(void);
 
     static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
+    static QString getAudioModeText(uint8_t baseMode, uint32_t customMode);
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
     static void clearStaticData(void);