UAS: Rely on autopilot plugin to provide audio string

src/uas/UAS.cc

@@ -510,7 +510,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             bool statechanged = false;
             bool modechanged = false;
 
-            QString audiomodeText = getAudioModeTextFor(static_cast<int>(state.base_mode));
+            QString audiomodeText = getAudioModeTextFor(state.base_mode, state.custom_mode);
 
             if ((state.system_status != this->status) && state.system_status != MAV_STATE_UNINIT)
             {
@@ -3141,10 +3141,16 @@ const QString& UAS::getShortState() const
 * hardware in the loop is being used.
 * @return the audio mode text for the id given.
 */
-QString UAS::getAudioModeTextFor(int id)
+QString UAS::getAudioModeTextFor(uint8_t base_mode, uint32_t custom_mode) const
 {
+    QString mode = AutoPilotPluginManager::instance()->getAudioModeText(base_mode, custom_mode, autopilot);
+
+    if (mode.length() == 0)
+    {
+        // Fall back to generic decoding
+
         QString mode;
-    uint8_t modeid = id;
+        uint8_t modeid = base_mode;
 
         // BASE MODE DECODING
         if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
@@ -3185,16 +3191,13 @@ QString UAS::getAudioModeTextFor(int id)
         {
             mode.append(" using hardware in the loop simulation");
         }
+    }
 
     return mode;
 }
 
 /**
-* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
+* The mode returned depends on the specific autopilot used.
-* @return the short text of the mode for the id given.
-*/
-/**
-* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
 * @return the short text of the mode for the id given.
 */
 QString UAS::getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const

src/uas/UAS.h

@@ -76,7 +76,7 @@ public:
     /** @brief Translate from mode id to text */
     QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const;
     /** @brief Translate from mode id to audio text */
-    static QString getAudioModeTextFor(int id);
+    QString getAudioModeTextFor(uint8_t base_mode, uint32_t custom_mode) const;
     /** @brief Get the unique system id */
     int getUASID() const;
     /** @brief Get the airframe */