Mode server

If you implement a server (autopilot or simulator), register the mode microservice during server device build:

var serverDevice = ServerDevice.Create(
    new MavlinkIdentity(config.SystemId, config.ComponentId),
    core,
    builder =>
    {
        // register other services...
        
        // you need to pass your own work mode 
        builder.RegisterMode(
            ArduCopterMode.Guided,
            ArduCopterMode.AllModes,
            mode => new SomeWorkMode(mode));
    });

RegisterMode depends on the status-text, command-long, and heartbeat services.

After building, you can get the service and request mode changes:

var modeServer = serverDevice.GetMode();

await modeServer.SetMode(ArduCopterMode.Loiter, handler =>
{
    Console.WriteLine("Mode change requested: Loiter");
    // optional: configure handler / initial state
});

IModeServer

Property	Type	Description
`IsBusy`	`ReadOnlyReactiveProperty<bool>`	Is server busy.
`AvailableModes`	`ImmutableArray<ICustomMode>`	Supported modes on this server.
`CurrentMode`	`ReadOnlyReactiveProperty<IWorkModeHandler>`	Current active work-mode handler.

Method	Return Type	Description
`SetMode(ICustomMode mode, Action<IWorkModeHandler>? update, CancellationToken cancel = default)`	`Task`	Requests a mode change on the server; optional callback allows configuring the handler.

`IModeServer.SetMode`

Parameter	Type	Description
`mode`	`ICustomMode`	Target mode to apply.
`update`	`Action<IWorkModeHandler>?`	Optional callback invoked with the `IWorkModeHandler`.
`cancel`	`CancellationToken`	Optional cancellation token.

IWorkModeHandler

Represents the runtime handler associated with a custom mode.

Property	Type	Description
`Mode`	`ICustomMode`	Mode represented by this handler.

Method	Return Type	Description
`Init(CancellationToken cancel)`	`Task`	Initializes the handler when entering mode.
`Destroy(CancellationToken cancel)`	`Task`	Destroys the handler when leaving mode.
`Dispose()`	`void`	Releases resources owned by the handler.

Last modified: 16 July 2026