Mode client

To work with modes from the client side, request the IModeClient microservice from a device instance.

var modeClient = device.GetMicroservice<IModeClient>()
    ?? throw new Exception("No mode client found");

You can enumerate available modes:

foreach (var mode in modeClient.AvailableModes)
{
    Console.WriteLine($"Available mode: {mode.Name}");
}

Or request a mode change (the client populates MAV_CMD_DO_SET_MODE and sends it via the Command Protocol):

await modeClient.SetMode(ArduCopterMode.Guided);

Subscribe to current mode updates (values are driven from HEARTBEAT):

var subscription = modeClient.CurrentMode.Subscribe(mode =>
{
Console.WriteLine($"Current mode: {mode?.Name}");
});

IModeClient (source)

Property	Type	Description
`AvailableModes`	`ImmutableArray<ICustomMode>`	List of all supported modes for the target system.
`CurrentMode`	`ReadOnlyReactiveProperty<ICustomMode>`	Current mode.

Method	Return Type	Description
`SetMode(ICustomMode mode, CancellationToken cancel = default)`	`Task`	Sends a mode change request to the target system.

Parameter	Type	Description
`mode`	`ICustomMode`	Mode to set.
`cancel`	`CancellationToken`	Optional cancellation token.

Last modified: 09 October 2025