Add missing flight modes

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -41,7 +41,10 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
         { THROW,        "Throw"},
         { AVOID_ADSB,   "Avoid ADSB"},
         { GUIDED_NOGPS, "Guided No GPS"},
-        {SAFE_RTL,       "Smart RTL"},
+        { SMART_RTL,    "Smart RTL"},
+        { FLOWHOLD,     "Flow Hold" },
+        { FOLLOW,       "Follow" },
+        { ZIGZAG,       "ZigZag" },
     });
 }
 
@@ -66,7 +69,10 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
         APMCopterMode(APMCopterMode::THROW,         true),
         APMCopterMode(APMCopterMode::AVOID_ADSB,    true),
         APMCopterMode(APMCopterMode::GUIDED_NOGPS,  true),
-        APMCopterMode(APMCopterMode::SAFE_RTL,true),
+        APMCopterMode(APMCopterMode::SMART_RTL,     true),
+        APMCopterMode(APMCopterMode::FLOWHOLD,      true),
+        APMCopterMode(APMCopterMode::FOLLOW,        true),
+        APMCopterMode(APMCopterMode::ZIGZAG,        true),
     });
 
     if (!_remapParamNameIntialized) {

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -41,9 +41,11 @@ public:
         THROW       = 18,
         AVOID_ADSB  = 19,
         GUIDED_NOGPS= 20,
-        SAFE_RTL   = 21,   //Safe Return to Launch
+        SMART_RTL   = 21,  // SMART_RTL returns to home by retracing its steps
+        FLOWHOLD    = 22,  // FLOWHOLD holds position with optical flow without rangefinder
+        FOLLOW      = 23,  // follow attempts to follow another vehicle or ground station
+        ZIGZAG      = 24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
     };
-    static const int modeCount = 22;
 
     APMCopterMode(uint32_t mode, bool settable);
 };