From c7e11f17740b8e6ffd8da7be34da2be072857395 Mon Sep 17 00:00:00 2001
From: Yannick Fuhrer <yannick@auterion.com>
Date: Wed, 8 Nov 2023 09:31:37 +0100
Subject: [PATCH] flightmodes: flag advanced modes accordingly

---
 src/lib/modes/ui.hpp                          | 31 +++++++++++++++++++
 .../mavlink/streams/AVAILABLE_MODES.hpp       |  4 +++
 2 files changed, 35 insertions(+)

diff --git a/src/lib/modes/ui.hpp b/src/lib/modes/ui.hpp
index 7eb3578b50..c75531e666 100644
--- a/src/lib/modes/ui.hpp
+++ b/src/lib/modes/ui.hpp
@@ -99,4 +99,35 @@ const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
 	"External 8",
 };
 
+/**
+ * @return returns true for advanced modes
+ */
+static inline bool isAdvanced(uint8_t nav_state)
+{
+	switch (nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_ALTCTL: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_POSCTL: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL1: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL2: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL3: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL4: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL5: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL6: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL7: return false;
+
+	case vehicle_status_s::NAVIGATION_STATE_EXTERNAL8: return false;
+
+	}
+
+	return true;
+}
+
 } // namespace mode_util
diff --git a/src/modules/mavlink/streams/AVAILABLE_MODES.hpp b/src/modules/mavlink/streams/AVAILABLE_MODES.hpp
index a96ab5cf7f..d19aeb4613 100644
--- a/src/modules/mavlink/streams/AVAILABLE_MODES.hpp
+++ b/src/modules/mavlink/streams/AVAILABLE_MODES.hpp
@@ -88,6 +88,10 @@ private:
 		// Set the mode name if not a standard mode
 		available_modes.standard_mode = (uint8_t)mode_util::getStandardModeFromNavState(nav_state);
 
+		if (mode_util::isAdvanced(nav_state)) {
+			available_modes.properties |= MAV_MODE_PROPERTY_ADVANCED;
+		}
+
 		if (available_modes.standard_mode == MAV_STANDARD_MODE_NON_STANDARD) {
 			static_assert(sizeof(available_modes.mode_name) >= sizeof(ExternalModeName::name), "mode name too short");