function modeOut = ArduCopterMode(flag)
% Return the flight mode number used in ArduCopter
% ref: https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/defines.h#L34
%
% Inputs : flag (0,1) (optional) sets numeric mode as the key (default) or
% text description (flag = 1)
% 
% Outputs: modeOut : container.Map object

valueSet = {'STABILIZE','ACRO','ALT_HOLD','AUTO','GUIDED','LOITER','RTL','CIRCLE',...
    'LAND','DRIFT','SPORT','FLIP','AUTOTUNE','POSHOLD','BRAKE','THROW','AVOID_ADSB',...
    'GUIDED_NOGPS','SMART_RTL','FLOWHOLD','FOLLOW','ZIGZAG','SYSTEMID', 'HELI_AUTOROTATE', 'AUTORTL'};
keySet = [0:1:7, 9, 11, 13:1:27];


colororder = [
	0.00	0       1.00        % Stab, blue
	0.75	0.75	0           % Acro, yellowish gold
	1.00	0       0           % alt hold, red
	0.00	0       0           % auto, black
	0.25	0.25	0.25        % guided
	0       0.75	0.75        % loiter, teal 
    0.75	0.25	0.25        % RTL, brick red
	0.95	0.95	0           % circle, yellow
	0.25	0.25	0.75        % land
	0.75	0.75	0.75        % drift
	0.00	1       0           % sport, bright green
	0.76	0.57	0.17        % flip,
	0.75	0       0.75        % autotune, purple
    0       0.5     0           % poshold, dark green
	0.54	0.63	0.22        % brake
	0.34	0.57	0.92        % throw
	1.00	0.1     0.6         % avoid
	0.88	0.75	0.73        % guided_nogps
	0.10	0.49	0.47        % smart rtl
    0.66	0.34	0.65        % flowhold
    0.99	0.41	0.23        % follow
    0.58	0.49	0.25        % zigzag
    0.10    0.49    0.47        % systemid
	0.66    0.34    0.65        % heli autorotate
	0.99    0.41    0.23        % autortl
];

scell = cell(length(keySet),1);
for kk = 1:length(keySet)
    eval(['s' num2str(kk) '.Col = colororder(kk,:);'])
    eval(['s' num2str(kk) '.Val = valueSet{kk};'])
    scell{kk} = eval(['s' num2str(kk)]);
end

if ~exist('flag','var')
%     modeOut = containers.Map(keySet, valueSet);
    modeOut = containers.Map(keySet, scell);
else
    if flag == 0
        modeOut = containers.Map(keySet, valueSet);
    else
        scell = cell(length(keySet),1);
        for kk = 1:length(keySet)
            eval(['s' num2str(kk) '.Col = colororder(kk,:);'])
            eval(['s' num2str(kk) '.Val = keySet(kk);'])
            scell{kk} = eval(['s' num2str(kk)]);
        end
%         modeOut = containers.Map(valueSet, keySet);
        modeOut = containers.Map(valueSet, scell);
    end
end