MissionPlanner.Common.getModesList C# (CSharp) Method

        public static List<KeyValuePair<int, string>> getModesList(CurrentState cs)
        {
            log.Info("getModesList Called");

            if (cs.firmware == MainV2.Firmwares.PX4)
            {
                /*
union px4_custom_mode {
    struct {
        uint16_t reserved;
        uint8_t main_mode;
        uint8_t sub_mode;
    };
    uint32_t data;
    float data_float;
};
                 */


                var temp = new List<KeyValuePair<int, string>>()
                {
                    new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_MANUAL << 16, "Manual"),
                    new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_ACRO << 16, "Acro"),
                    new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_STABILIZED << 16,
                        "Stabalized"),
                    new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_RATTITUDE << 16,
                        "Rattitude"),
                    new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_ALTCTL << 16,
                        "Altitude Control"),
                    new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_POSCTL << 16,
                        "Position Control"),
                    new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_OFFBOARD << 16,
                        "Offboard Control"),
                    new KeyValuePair<int, string>(
                        ((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
                        (int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_READY << 24, "Auto: Ready"),
                    new KeyValuePair<int, string>(
                        ((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
                        (int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF << 24, "Auto: Takeoff"),
                    new KeyValuePair<int, string>(
                        ((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
                        (int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_LOITER << 24, "Loiter"),
                    new KeyValuePair<int, string>(
                        ((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
                        (int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_MISSION << 24, "Auto"),
                    new KeyValuePair<int, string>(
                        ((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
                        (int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_RTL << 24, "RTL"),
                    new KeyValuePair<int, string>(
                        ((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
                        (int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_LAND << 24, "Auto: Landing")
                };

                return temp;
            }
            else if (cs.firmware == MainV2.Firmwares.ArduPlane)
            {
                var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
                    cs.firmware.ToString());
                flightModes.Add(new KeyValuePair<int, string>(16, "INITIALISING"));

                flightModes.Add(new KeyValuePair<int, string>(17, "QStabilize"));
                flightModes.Add(new KeyValuePair<int, string>(18, "QHover"));
                flightModes.Add(new KeyValuePair<int, string>(19, "QLoiter"));
                flightModes.Add(new KeyValuePair<int, string>(20, "QLand"));
                flightModes.Add(new KeyValuePair<int, string>(21, "QRTL"));

                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.Ateryx)
            {
                var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
                    cs.firmware.ToString()); //same as apm
                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.ArduCopter2)
            {
                var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
                    cs.firmware.ToString());
                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.ArduRover)
            {
                var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("MODE1",
                    cs.firmware.ToString());
                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.ArduTracker)
            {
                var temp = new List<KeyValuePair<int, string>>();
                temp.Add(new KeyValuePair<int, string>(0, "MANUAL"));
                temp.Add(new KeyValuePair<int, string>(1, "STOP"));
                temp.Add(new KeyValuePair<int, string>(2, "SCAN"));
                temp.Add(new KeyValuePair<int, string>(3, "SERVO_TEST"));
                temp.Add(new KeyValuePair<int, string>(10, "AUTO"));
                temp.Add(new KeyValuePair<int, string>(16, "INITIALISING"));

                return temp;
            }

            return null;
        }