function ht = PlotModeChanges(modeTime, mode, varargin)
% PlotModeChanges   Plot vertical lines when control mode changes using flight
% data from ArduCopter
%
% Inputs:
%   modeTime : [vector] (sec) time when mode change occurs
%   mode     : [vector] numerical value indicating mode
%   axh      : [scalar] axis handle for plotting - if empty use current figure
%   varargin(2:end) : Name-value pair arguments to format the vertical lines
%                     indicating mode change
%   
% Outputs:
%   ht : handle to graphics indicating mode change
%
plotOpt = [];
if isempty(varargin)
    axh = gca;
elseif nargin > 3
    plotOpt = varargin(2:end);
    axh = varargin{1};
end

if ~ishold(axh)
    hold(axh,'on')
end

ylim = get(axh, 'Ylim');

% Get the map of control mode for ArduCopter
fmodeNum  = ArduCopterMode;

numMode = length(mode);

for kk = 1:numMode
    ht = plot(axh, modeTime(kk)*ones(1,2), ylim, plotOpt{:});
    ht.Color = [fmodeNum(mode(kk)).Col, 0.5];
    ht.Tag   = fmodeNum(mode(kk)).Val;
end
% set the data cursor to display the mode type
figh = GetFigureHandle(axh);

CustomDataCursor(figh);


    function figh = GetFigureHandle(ob)
        temp = ob.Parent;
        if ~isa(temp, 'matlab.ui.Figure')
            temp = GetFigureHandle(temp);
        end
        figh = temp;
    end




end