From b9ae30bbf9099683d2b8de875f1d5b702dbcdc51 Mon Sep 17 00:00:00 2001
From: Harsh Mittal <harshmittal2210@gmail.com>
Date: Thu, 9 Jan 2025 13:42:39 +0530
Subject: [PATCH] Fix Unique Flight Modes Only

---
 src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h |  2 +-
 src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h  |  2 +-
 src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h  |  2 +-
 src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h    |  2 +-
 src/FirmwarePlugin/FirmwarePlugin.cc              | 13 ++++++++++++-
 src/FirmwarePlugin/FirmwarePlugin.h               |  1 +
 6 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 34de7a716aa..75970a9b159 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -74,7 +74,7 @@ class ArduCopterFirmwarePlugin : public APMFirmwarePlugin
     QString autoDisarmParameter                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
     bool    supportsSmartRTL                    (void) const override { return true; }
 
-    void    updateAvailableFlightModes          (FlightModeList modeList) final;
+    void    updateAvailableFlightModes          (FlightModeList modeList) override;
 protected:
     uint32_t    _convertToCustomFlightModeEnum(uint32_t val) const override;
 
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index 918fca157d2..a27e969e1ac 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -61,7 +61,7 @@ class ArduPlaneFirmwarePlugin : public APMFirmwarePlugin
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
 
     QString stabilizedFlightMode                    (void) const override;
-    void    updateAvailableFlightModes              (FlightModeList modeList) final;
+    void    updateAvailableFlightModes              (FlightModeList modeList) override;
 
 protected:
     uint32_t    _convertToCustomFlightModeEnum(uint32_t val) const override;
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
index 0e8f0cc1587..d8f10c89e3d 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -54,7 +54,7 @@ class ArduRoverFirmwarePlugin : public APMFirmwarePlugin
     QString offlineEditingParamFile                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Rover.OfflineEditing.params"); }
 
     QString stabilizedFlightMode                    (void) const override;
-    void    updateAvailableFlightModes              (FlightModeList modeList) final;
+    void    updateAvailableFlightModes              (FlightModeList modeList) override;
 
 protected:
     uint32_t    _convertToCustomFlightModeEnum(uint32_t val) const override;
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
index 52530af81dc..625fd8bcd95 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -154,7 +154,7 @@ class ArduSubFirmwarePlugin : public APMFirmwarePlugin
 
     QString stabilizedFlightMode                (void) const override;
     QString motorDetectionFlightMode            (void) const override;
-    void    updateAvailableFlightModes          (FlightModeList modeList) final;
+    void    updateAvailableFlightModes          (FlightModeList modeList) override;
 
 protected:
     uint32_t    _convertToCustomFlightModeEnum(uint32_t val) const override;
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index eaaec8e477f..7ff67bad34c 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -594,6 +594,17 @@ void FirmwarePlugin::_updateModeMappings(FlightModeList &modeList){
             _modeEnumToString[mode.custom_mode] = nModeName;
         }
         mode.mode_name = nModeName;
-        _availableFlightModeList += mode;
+        _addNewFlightMode(mode);
     }
 }
+
+void FirmwarePlugin::_addNewFlightMode(FirmwareFlightMode &mode)
+{
+    for(auto &m:_availableFlightModeList){
+        if(m.custom_mode == mode.custom_mode){
+            // Already Exist
+            return;
+        }
+    }
+    _availableFlightModeList += mode;
+}
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index 53b9ce7579d..bc3ee6ca798 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -438,6 +438,7 @@ class FirmwarePlugin : public QObject
 
     // Update internal mappings for a list of flight modes
     void             _updateModeMappings(FlightModeList &modeList);
+    void             _addNewFlightMode  (FirmwareFlightMode &mode);
 
     FlightModeList              _availableFlightModeList;
     FlightModeCustomModeMap     _modeEnumToString;