From 5c1d1a9d81b5364c1d8845ad55210c4c3bcc500e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Rub=C3=A9n=20P=C3=A9rez=20Alonso?=
 <rperez@ventorinnovations.es>
Date: Tue, 10 Dec 2024 16:42:52 +0100
Subject: [PATCH] Fix case-sensitive flight mode comparisons

Fixed a bug where the "Start mission" action failed on ArduPilot,
displaying an error popup with the message "Unable to start mission:
Vehicle failed to change to Auto mode." The issue was caused by
case-sensitive comparisons between flight mode strings from the vehicle
and the reference strings. Moving away from using strings entirely
should be considered.

Replaced direct string comparisons with case-insensitive comparisons
using QString::compare() with Qt::CaseInsensitive flag. This fix
resolves the immediate issue and also corrects a few other incorrect
mode comparisons unrelated to the "Start mission" problem.
---
 src/AutoPilotPlugins/APM/APMSubMotorComponentController.cc | 2 +-
 src/FirmwarePlugin/APM/APMFirmwarePlugin.cc                | 2 +-
 src/FirmwarePlugin/FirmwarePlugin.cc                       | 4 ++--
 src/Vehicle/StandardModes.cc                               | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/AutoPilotPlugins/APM/APMSubMotorComponentController.cc b/src/AutoPilotPlugins/APM/APMSubMotorComponentController.cc
index 0df38a1706c..a76bc776246 100644
--- a/src/AutoPilotPlugins/APM/APMSubMotorComponentController.cc
+++ b/src/AutoPilotPlugins/APM/APMSubMotorComponentController.cc
@@ -22,7 +22,7 @@ void APMSubMotorComponentController::handleNewMessages(int uasid, int componenti
     Q_UNUSED(uasid);
     Q_UNUSED(componentid);
     Q_UNUSED(severity);
-    if (_vehicle->flightMode() == "Motor Detection"
+    if (QString::compare(_vehicle->flightMode(), "Motor Detection", Qt::CaseInsensitive) == 0
         && (text.toLower().contains("thruster") || text.toLower().contains("motor"))) {
         _motorDetectionMessages += text + QStringLiteral("\n");
         emit motorDetectionMessagesChanged();
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index d7a3c404a99..681be13d796 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -670,7 +670,7 @@ const QVariantList& APMFirmwarePlugin::toolIndicators(const Vehicle* vehicle)
 
 bool APMFirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const
 {
-    return vehicle->flightMode() == "Guided";
+    return QString::compare(vehicle->flightMode(), "Guided", Qt::CaseInsensitive) == 0;
 }
 
 void APMFirmwarePlugin::_soloVideoHandshake(void)
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 976448877d0..eb041b65496 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -365,7 +365,7 @@ bool FirmwarePlugin::_armVehicleAndValidate(Vehicle* vehicle)
 
 bool FirmwarePlugin::_setFlightModeAndValidate(Vehicle* vehicle, const QString& flightMode)
 {
-    if (vehicle->flightMode() == flightMode) {
+    if (QString::compare(vehicle->flightMode(), flightMode, Qt::CaseInsensitive) == 0) {
         return true;
     }
 
@@ -377,7 +377,7 @@ bool FirmwarePlugin::_setFlightModeAndValidate(Vehicle* vehicle, const QString&
 
         // Wait for vehicle to return flight mode
         for (int i=0; i<13; i++) {
-            if (vehicle->flightMode() == flightMode) {
+            if (QString::compare(vehicle->flightMode(), flightMode, Qt::CaseInsensitive) == 0) {
                 flightModeChanged = true;
                 break;
             }
diff --git a/src/Vehicle/StandardModes.cc b/src/Vehicle/StandardModes.cc
index 810def0dd48..3c09ea8a79c 100644
--- a/src/Vehicle/StandardModes.cc
+++ b/src/Vehicle/StandardModes.cc
@@ -175,7 +175,7 @@ QString StandardModes::flightMode(uint32_t custom_mode) const
 bool StandardModes::setFlightMode(const QString &flightMode, uint32_t *custom_mode)
 {
     for (auto iter = _modes.constBegin(); iter != _modes.constEnd(); ++iter) {
-        if (iter->name == flightMode) {
+        if (QString::compare(iter->name, flightMode, Qt::CaseInsensitive) == 0) {
             *custom_mode = iter.key();
             return true;
         }