Any way to check what flight mode the Pixhawk is in from the Arduino?

ArduCopter Copter 3.6
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1

It’s basically all in the topic title, but is there any way I can check to see what flight mode the Pixhawk is in from the Arduino? Using Mission Planner, I’ve set the copter to be in throw mode initially and to transition to guided mode after. I want to send a NAV_LAND command to the Pixhawk after the copter is in Guided mode and don’t want to send the command while the copter is still falling. Is there any way I can check for this?

2

Nevermind, I got it.

3

hey have you got solution for this ??