During recent BlueBoat testing, it was identified that vehicle mode change commands are not available as joystick actions in Cockpit.

As a result:

• Boat modes cannot be mapped to joystick buttons
• Essential modes like Loiter are not available at all

This is currently a blocker for BlueBoat operation using a joystick.

Expected

• Expose boat control modes as joystick actions
• Allow users to map modes to buttons

Reference (ArduPilot Rover/Boat modes):
https://ardupilot.org/rover/docs/rover-control-modes.html

Proposed default joystick layout

• B → Manual
• Y → Acro
• A → Loiter
• X → Auto

All modes should still remain configurable.