MSP protocol implementation and settings menu

2026-07-30 21:18:48 +02:00
parent 5994aee7ad
commit 078d58dbc0
16 changed files with 1132 additions and 29 deletions
@@ -0,0 +1,60 @@
+import 'dart:typed_data';
+
+import 'msp_commands.dart';
+
+/// GPS-Rohwerte aus `MSP_RAW_GPS` (Doku Kommunikationsschicht Abschnitt 4).
+class MspGpsReading {
+  const MspGpsReading({
+    required this.fixType,
+    required this.numSat,
+    required this.lat,
+    required this.lon,
+    required this.speedMs,
+  });
+
+  /// 0 = kein Fix (`fc_msp.c`: `gpsSol.fixType`).
+  final int fixType;
+  final int numSat;
+  final double lat;
+  final double lon;
+  final double speedMs;
+
+  bool get hasFix => fixType != 0;
+}
+
+/// Parst die `MSP_RAW_GPS`-Antwort (Byte-Layout siehe [MspCommands.rawGps]).
+MspGpsReading parseMspRawGps(Uint8List payload) {
+  final data = ByteData.sublistView(payload);
+  return MspGpsReading(
+    fixType: data.getUint8(0),
+    numSat: data.getUint8(1),
+    lat: data.getInt32(2, Endian.little) / 1e7,
+    lon: data.getInt32(6, Endian.little) / 1e7,
+    speedMs: data.getUint16(12, Endian.little) / 100.0,
+  );
+}
+
+/// Parst die `MSP_ALTITUDE`-Antwort und liefert die geschaetzte Hoehe in
+/// Metern (siehe [MspCommands.altitude]).
+double parseMspAltitudeMeters(Uint8List payload) {
+  final data = ByteData.sublistView(payload);
+  return data.getInt32(0, Endian.little) / 100.0;
+}
+
+/// Parst die `MSP2_INAV_STATUS`-Antwort und liefert, ob der ARMED-Bit in
+/// `armingFlags` gesetzt ist (siehe [MspCommands.inavStatus]).
+bool parseMspInavStatusArmed(Uint8List payload) {
+  final data = ByteData.sublistView(payload);
+  // Offset 9 = cycleTime(2) + i2cErrors(2) + sensorStatus(2) + avgLoad(2)
+  // + Profil-Byte(1), siehe fc_msp.c/MSP2_INAV_STATUS.
+  final armingFlags = data.getUint32(9, Endian.little);
+  return (armingFlags & MspArmingFlags.armed) != 0;
+}
+
+/// Parst die `MSP_NAV_STATUS`-Antwort und liefert den aktiven
+/// Wegpunktindex, oder null, wenn keine Mission aktiv ist (`activeWpNumber
+/// == 0`, siehe [MspCommands.navStatus]).
+int? parseMspNavStatusActiveWaypoint(Uint8List payload) {
+  final activeWpNumber = payload[3];
+  return activeWpNumber == 0 ? null : activeWpNumber;
+}