From 427a5c43fc8cc42e80e2b81d3a7ee424d32d6806 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 28 Jul 2023 07:31:32 +0200
Subject: [PATCH] joystick: handle dynamic flight mode updates

---
 src/Joystick/Joystick.cc | 7 +++++++
 src/Joystick/Joystick.h  | 2 +-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index e138739..b9835c4 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -222,6 +222,10 @@ void Joystick::_activeVehicleChanged(Vehicle* activeVehicle)
         setTXMode(mode);
     }
 }
+void Joystick::_flightModesChanged()
+{
+    _buildActionList(_activeVehicle);
+}
 
 void Joystick::_vehicleCountChanged(int count)
 {
@@ -717,6 +721,7 @@ void Joystick::startPolling(Vehicle* vehicle)
             disconnect(this, &Joystick::gimbalControlValue, _activeVehicle, &Vehicle::gimbalControlValue);
             disconnect(this, &Joystick::emergencyStop,      _activeVehicle, &Vehicle::emergencyStop);
             disconnect(this, &Joystick::gripperAction,      _activeVehicle, &Vehicle::setGripperAction);
+            disconnect(_activeVehicle, &Vehicle::flightModesChanged, this, &Joystick::_flightModesChanged);
         }
         // Always set up the new vehicle
         _activeVehicle = vehicle;
@@ -740,6 +745,7 @@ void Joystick::startPolling(Vehicle* vehicle)
             connect(this, &Joystick::gimbalControlValue, _activeVehicle, &Vehicle::gimbalControlValue);
             connect(this, &Joystick::emergencyStop,      _activeVehicle, &Vehicle::emergencyStop);
             connect(this, &Joystick::gripperAction,      _activeVehicle, &Vehicle::setGripperAction);
+            connect(_activeVehicle, &Vehicle::flightModesChanged, this, &Joystick::_flightModesChanged);
         }
     }
     if (!isRunning()) {
@@ -760,6 +766,7 @@ void Joystick::stopPolling(void)
             disconnect(this, &Joystick::centerGimbal,       _activeVehicle, &Vehicle::centerGimbal);
             disconnect(this, &Joystick::gimbalControlValue, _activeVehicle, &Vehicle::gimbalControlValue);
             disconnect(this, &Joystick::gripperAction,      _activeVehicle, &Vehicle::setGripperAction);
+            disconnect(_activeVehicle, &Vehicle::flightModesChanged, this, &Joystick::_flightModesChanged);
         }
         _exitThread = true;
     }
diff --git a/src/Joystick/Joystick.h b/src/Joystick/Joystick.h
index 2c6f289..7405630 100644
--- a/src/Joystick/Joystick.h
+++ b/src/Joystick/Joystick.h
@@ -366,5 +366,5 @@ private:
 private slots:
     void _activeVehicleChanged(Vehicle* activeVehicle);
     void _vehicleCountChanged(int count);
-
+    void _flightModesChanged();
 };