[gcs] connect the 'back to nav' strip button

also remove some warnings since it seems to be more confusing than
inactive buttons in the strip

conf/settings/rotorcraft_basic.xml

@@ -4,12 +4,13 @@
   <dl_settings>
 
     <dl_settings NAME="System">
-       <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="15" module="autopilot" shortname="auto2" values="KILL|Fail|HOME|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree"/>
+      <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="15" module="autopilot" shortname="auto2" values="KILL|Fail|HOME|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree"/>
       <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
       <dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
         <strip_button name="POWER ON" icon="on.png" value="1" group="power_switch"/>
         <strip_button name="POWER OFF" icon="off.png" value="0" group="power_switch"/>
       </dl_setting>
+      <dl_setting var="autopilot_mode" min="0" step="1" max="2" module="autopilot" shortname="mode" values="KILL|Fail|HOME"/>
     </dl_settings>
 
   </dl_settings>

sw/ground_segment/cockpit/live.ml

@@ -725,10 +725,12 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id
                 fprintf stderr "Warning: %s not setable from GCS strip (i.e. not listed in the xml settings file)\n" setting_name in
 
           connect "flight_altitude" (fun f -> ac.strip#connect_shift_alt (fun x -> f (ac.target_alt+.x)));
-          connect "launch" ac.strip#connect_launch;
+          connect "launch" ~warning:false ac.strip#connect_launch;
           connect "kill_throttle" ac.strip#connect_kill;
-          connect "nav_shift" ac.strip#connect_shift_lateral;
+          (* try to connect either pprz_mode (fixedwing) or autopilot_mode (rotorcraft) *)
-          connect "pprz_mode" ac.strip#connect_mode;
+          connect "pprz_mode" ~warning:false (ac.strip#connect_mode 2.);
+          connect "autopilot_mode" ~warning:false (ac.strip#connect_mode 13.);
+          connect "nav_shift" ~warning:false  ac.strip#connect_shift_lateral;
           connect "autopilot_flight_time" ac.strip#connect_flight_time;
           let get_ac_unix_time = fun () -> ac.last_unix_time in
           connect ~warning:false "snav_desired_tow" (ac.strip#connect_apt get_ac_unix_time);
@@ -753,8 +755,7 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id
               let gps_reset_id = settings_tab#assoc "gps.reset" in
               gps_page#connect_reset
                 (fun x -> dl_setting_callback gps_reset_id (float x))
-            with Not_found ->
+            with Not_found -> ()
-              prerr_endline "Warning: GPS reset not setable from GCS (i.e. 'gps.reset' not listed in the xml settings file)"
           end
       | None -> ()
   end;

sw/ground_segment/cockpit/strip.ml

@@ -33,7 +33,7 @@ type t =
   connect_shift_lateral : (float -> unit) -> unit;
   connect_launch : (float -> unit) -> unit;
   connect_kill : (float -> unit) -> unit;
-  connect_mode : (float -> unit) -> unit;
+  connect_mode : float -> (float -> unit) -> unit;
   connect_mark : (unit -> unit) -> unit;
   connect_flight_time : (float -> unit) -> unit;
   connect_apt : (unit -> float) -> (float -> unit) -> unit;
@@ -378,10 +378,10 @@ object
     connect_buttons callback
       [ strip#button_launch, 1. ]
 
-  method connect_mode = fun callback ->
+  method connect_mode = fun mode callback ->
     let callback = fun _ -> (* Back in AUTO2 *)
       match GToolbox.question_box ~title:"Back to auto" ~buttons:["AUTO"; "Cancel"] (sprintf "Restore AUTO mode for A/C %s ?" ac_name) with
-          1 -> callback 2.; true
+          1 -> callback mode; true
         | _ -> true in
     ignore(strip#eventbox_mode#event#connect#button_press ~callback)
 

sw/ground_segment/cockpit/strip.mli

@@ -30,7 +30,7 @@ type t = <
     connect_shift_lateral : (float -> unit) -> unit;
     connect_launch : (float -> unit) -> unit;
     connect_kill : (float -> unit) -> unit;
-    connect_mode : (float -> unit) -> unit;
+    connect_mode : float -> (float -> unit) -> unit;
     connect_flight_time : (float -> unit) -> unit;
 
     connect_apt : (unit -> float) -> (float -> unit) -> unit;