Allow scripts to get modes

APMrover2/Rover.h

@@ -390,6 +390,7 @@ class Rover : public AP_Vehicle {
     void update_ahrs_flyforward();
     bool set_mode(Mode &new_mode, ModeReason reason);
     bool set_mode(const uint8_t new_mode, ModeReason reason) override;
+    uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
     bool mavlink_set_mode(uint8_t mode);
     void startup_INS_ground(void);
     void notify_mode(const Mode *new_mode);

AntennaTracker/Tracker.h

@@ -224,6 +224,7 @@ class Tracker : public AP_Vehicle {
     void prepare_servos();
     void set_mode(Mode &newmode, ModeReason reason);
     bool set_mode(uint8_t new_mode, ModeReason reason) override;
+    uint8_t get_mode() const override { return (uint8_t)mode->number(); }
     bool should_log(uint32_t mask);
     bool start_command_callback(const AP_Mission::Mission_Command& cmd) { return false; }
     void exit_mission_callback() { return; }

ArduCopter/Copter.h

@@ -796,6 +796,7 @@ class Copter : public AP_Vehicle {
     // mode.cpp
     bool set_mode(Mode::Number mode, ModeReason reason);
     bool set_mode(const uint8_t new_mode, const ModeReason reason) override;
+    uint8_t get_mode() const override { return (uint8_t)control_mode; }
     void update_flight_mode();
     void notify_flight_mode();
 

ArduPlane/Plane.h

@@ -901,6 +901,7 @@ class Plane : public AP_Vehicle {
     bool set_mode(Mode& new_mode, const ModeReason reason);
     bool set_mode(const uint8_t mode, const ModeReason reason) override;
     bool set_mode_by_number(const Mode::Number new_mode_number, const ModeReason reason);
+    uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
     Mode *mode_from_mode_num(const enum Mode::Number num);
     void check_long_failsafe();
     void check_short_failsafe();

ArduSub/Sub.h

@@ -540,6 +540,7 @@ class Sub : public AP_Vehicle {
     void fence_check();
     bool set_mode(control_mode_t mode, ModeReason reason);
     bool set_mode(const uint8_t mode, const ModeReason reason) override;
+    uint8_t get_mode() const override { return (uint8_t)control_mode; }
     void update_flight_mode();
     void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);
     bool mode_requires_GPS(control_mode_t mode);

Tools/Replay/Replay.h

@@ -60,6 +60,7 @@ class ReplayVehicle : public AP_Vehicle {
     void load_parameters(void);
 
     virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) override { return true; }
+    virtual uint8_t get_mode() const override { return 0; }
 
     AP_Vehicle::FixedWing aparm;
     AP_Airspeed airspeed;

libraries/AP_Scripting/generator/description/bindings.desc

@@ -144,6 +144,7 @@ singleton GCS method set_message_interval MAV_RESULT'enum uint8_t 0 MAVLINK_COMM
 include AP_Vehicle/AP_Vehicle.h
 singleton AP_Vehicle alias vehicle
 singleton AP_Vehicle method set_mode boolean uint8_t 0 UINT8_MAX ModeReason::SCRIPTING'literal
+singleton AP_Vehicle method get_mode uint8_t
 
 include AP_SerialLED/AP_SerialLED.h
 singleton AP_SerialLED alias serialLED

libraries/AP_Scripting/lua_generated_bindings.cpp

@@ -1,4 +1,4 @@
-// auto generated bindings, don't manually edit
+// auto generated bindings, don't manually edit.  See README.md for details.
 #include "lua_generated_bindings.h"
 #include "lua_boxed_numerics.h"
 #include <RC_Channel/RC_Channel.h>
@@ -625,6 +625,19 @@ static int AP_SerialLED_set_num_LEDs(lua_State *L) {
     return 1;
 }
 
+static int AP_Vehicle_get_mode(lua_State *L) {
+    AP_Vehicle * ud = AP_Vehicle::get_singleton();
+    if (ud == nullptr) {
+        return luaL_argerror(L, 1, "vehicle not supported on this firmware");
+    }
+
+    binding_argcheck(L, 1);
+    const uint8_t data = ud->get_mode();
+
+    lua_pushinteger(L, data);
+    return 1;
+}
+
 static int AP_Vehicle_set_mode(lua_State *L) {
     AP_Vehicle * ud = AP_Vehicle::get_singleton();
     if (ud == nullptr) {
@@ -1782,6 +1795,7 @@ const luaL_Reg AP_SerialLED_meta[] = {
 };
 
 const luaL_Reg AP_Vehicle_meta[] = {
+    {"get_mode", AP_Vehicle_get_mode},
     {"set_mode", AP_Vehicle_set_mode},
     {NULL, NULL}
 };

libraries/AP_Scripting/lua_generated_bindings.h

@@ -1,5 +1,5 @@
 #pragma once
-// auto generated bindings, don't manually edit
+// auto generated bindings, don't manually edit.  See README.md for details.
 #include <RC_Channel/RC_Channel.h>
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_SerialLED/AP_SerialLED.h>

libraries/AP_Vehicle/AP_Vehicle.h

@@ -56,6 +56,7 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     static AP_Vehicle *get_singleton();
 
     bool virtual set_mode(const uint8_t new_mode, const ModeReason reason) = 0;
+    uint8_t virtual get_mode() const = 0;
 
     /*
       common parameters for fixed wing aircraft