Map

app/build.gradle

@@ -4,12 +4,13 @@ plugins {
 
 android {
     namespace 'com.chobitsfan.minigcs'
-    compileSdk 32
+    compileSdk 33
 
     defaultConfig {
         applicationId "com.chobitsfan.minigcs"
         minSdk 26
-        targetSdk 32
+        //noinspection EditedTargetSdkVersion
+        targetSdk 33
         versionCode 10
         versionName "2.0"
 
@@ -33,6 +34,7 @@ dependencies {
     implementation 'androidx.appcompat:appcompat:1.4.1'
     implementation 'com.google.android.material:material:1.5.0'
     implementation 'androidx.constraintlayout:constraintlayout:2.1.3'
+    implementation 'org.osmdroid:osmdroid-android:6.1.14'
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'androidx.test.ext:junit:1.1.3'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'

app/src/main/AndroidManifest.xml

@@ -2,7 +2,15 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools">
 
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
+    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION"/>
+    <uses-permission android:name="android.permission.ACCESS_BACKGROUND_LOCATION"/>
+    <uses-permission android:name="android.permission.INTERNET"/>
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
+
+
     <application
+
         android:allowBackup="true"
         android:dataExtractionRules="@xml/data_extraction_rules"
         android:fullBackupContent="@xml/backup_rules"

app/src/main/java/com/chobitsfan/minigcs/ArduCopter.java

@@ -21,9 +21,16 @@ public Object Land() {
         return SetMode.builder().baseMode(MavModeFlag.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED).customMode(9).build();
     }
 
-    @Override
-    public Object RTL() {
-        return SetMode.builder().baseMode(MavModeFlag.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED).customMode(6).build();
+    public Object Guided(){
+        return SetMode.builder().baseMode(MavModeFlag.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED).customMode(4).build();
+    }
+
+    public Object Auto(){
+        return SetMode.builder().baseMode(MavModeFlag.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED).customMode(3).build();
+    }
+
+    public Object Stabilize(){
+        return SetMode.builder().baseMode(MavModeFlag.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED).customMode(0).build();
     }
 
     @Override