src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -84,6 +84,7 @@ public:
     QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const override;
     bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) override;
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
+    QString             gotoFlightMode                  (void) const override { return QStringLiteral("Guided"); }
     QString             rtlFlightMode                   (void) const override { return QString("RTL"); }
     QString             missionFlightMode               (void) const override { return QString("Auto"); }
     void                pauseVehicle                    (Vehicle* vehicle) override;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -757,3 +757,8 @@ int FirmwarePlugin::versionCompare(Vehicle* vehicle, QString& compare)
     int patch = versionNumbers[2].toInt();
     return versionCompare(vehicle, major, minor, patch);
 }
+
+QString FirmwarePlugin::gotoFlightMode(void) const
+{
+    return QString();
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -114,6 +114,9 @@ public:
     /// Returns whether the vehicle is in guided mode or not.
     virtual bool isGuidedMode(const Vehicle* vehicle) const;
 
+    /// Returns the flight mode which the vehicle will be in if it is performing a goto location
+    virtual QString gotoFlightMode(void) const;
+
     /// Set guided flight mode
     virtual void setGuidedMode(Vehicle* vehicle, bool guidedMode);
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -42,6 +42,7 @@ public:
     QString             rtlFlightMode                   (void) const override { return _rtlFlightMode; }
     QString             landFlightMode                  (void) const override { return _landingFlightMode; }
     QString             takeControlFlightMode           (void) const override { return _manualFlightMode; }
+    QString             gotoFlightMode                  (void) const override { return _holdFlightMode; }
     void                pauseVehicle                    (Vehicle* vehicle) override;
     void                guidedModeRTL                   (Vehicle* vehicle) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;