Heartbeat custom_mode Constantly Changing

[Mckenzie Gray Turpin]

I'm noticing a trend with a couple quadplanes running Ardupilot: the "custom_mode" field of the heartbeat messages constantly flips from the actual mode that the aircraft is in to 0 (manual mode in the case of Ardupilot). Why might this be the case if the aircraft never enters manual mode? I have attached screenshots of small snips of Mavlink messages from two different aircraft running the same firmware (both Cube Orange Arduplane 4.6.0).

[Patrick Arnoul]

I believe your zeroed "custom_mode" information does not come from your flight controller but rather from a Mavlink device connected to your FC.

My experience is that Ardupilot does broadcast the Hearbeat frames of the FC AND from the Mavlink devices (i.e. a companion computer) to the Ground Station, you have to screen SYS ID (=1) and COMP ID (=1) to get the FC "custom_mode" information and only this one.

Hope this helps,

Patrick

Le mer. 3 sept. 2025, 17:24, Mckenzie Gray Turpin <mtur...@umd.edu> a écrit :

I'm noticing a trend with a couple quadplanes running Ardupilot: the "custom_mode" field of the heartbeat messages constantly flips from the actual mode that the aircraft is in to 0 (manual mode in the case of Ardupilot). Why might this be the case if the aircraft never enters manual mode? I have attached screenshots of small snips of Mavlink messages from two different aircraft running the same firmware (both Cube Orange Arduplane 4.6.0).

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