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 +1,96 @@
+import 'dart:typed_data';
+
+import 'package:flutter_test/flutter_test.dart';
+
+import 'package:dmc_app/transport/msp/msp_telemetry_codec.dart';
+
+void main() {
+  group('parseMspRawGps', () {
+    test('parst fixType, numSat, lat/lon (1e-7 deg) und Speed (cm/s)', () {
+      // fixType=2, numSat=9, lat=52.5200000 deg, lon=13.4050000 deg,
+      // alt=100m (ungenutzt), groundSpeed=1234 cm/s, groundCourse=900 (0.1deg,
+      // ungenutzt), hdop=120 (ungenutzt).
+      final data = ByteData(18);
+      data.setUint8(0, 2);
+      data.setUint8(1, 9);
+      data.setInt32(2, 525200000, Endian.little);
+      data.setInt32(6, 134050000, Endian.little);
+      data.setUint16(10, 100, Endian.little);
+      data.setUint16(12, 1234, Endian.little);
+      data.setUint16(14, 900, Endian.little);
+      data.setUint16(16, 120, Endian.little);
+
+      final reading = parseMspRawGps(data.buffer.asUint8List());
+
+      expect(reading.fixType, 2);
+      expect(reading.hasFix, isTrue);
+      expect(reading.numSat, 9);
+      expect(reading.lat, closeTo(52.52, 1e-9));
+      expect(reading.lon, closeTo(13.405, 1e-9));
+      expect(reading.speedMs, closeTo(12.34, 1e-9));
+    });
+
+    test('fixType 0 bedeutet kein Fix', () {
+      final data = ByteData(18);
+      final reading = parseMspRawGps(data.buffer.asUint8List());
+      expect(reading.hasFix, isFalse);
+    });
+  });
+
+  group('parseMspAltitudeMeters', () {
+    test('estAlt in cm wird zu Metern (auch negativ moeglich)', () {
+      final data = ByteData(10);
+      data.setInt32(0, 1234, Endian.little); // 12.34 m
+      data.setInt16(4, -50, Endian.little);
+      data.setInt32(6, 1200, Endian.little);
+
+      expect(
+        parseMspAltitudeMeters(data.buffer.asUint8List()),
+        closeTo(12.34, 1e-9),
+      );
+    });
+
+    test('negative Hoehe (unter Startpunkt)', () {
+      final data = ByteData(10);
+      data.setInt32(0, -250, Endian.little); // -2.5 m
+      expect(
+        parseMspAltitudeMeters(data.buffer.asUint8List()),
+        closeTo(-2.5, 1e-9),
+      );
+    });
+  });
+
+  group('parseMspInavStatusArmed', () {
+    Uint8List statusPayload(int armingFlags) {
+      final data = ByteData(22);
+      data.setUint32(9, armingFlags, Endian.little);
+      return data.buffer.asUint8List();
+    }
+
+    test('ARMED-Bit (1<<2) gesetzt', () {
+      expect(parseMspInavStatusArmed(statusPayload(1 << 2)), isTrue);
+    });
+
+    test('nur andere Bits gesetzt, ARMED-Bit fehlt', () {
+      expect(parseMspInavStatusArmed(statusPayload(1 << 3)), isFalse);
+    });
+
+    test('keine Flags gesetzt', () {
+      expect(parseMspInavStatusArmed(statusPayload(0)), isFalse);
+    });
+  });
+
+  group('parseMspNavStatusActiveWaypoint', () {
+    Uint8List navStatusPayload(int activeWpNumber) {
+      return Uint8List.fromList([0, 0, 0, activeWpNumber, 0, 0, 0]);
+    }
+
+    test('activeWpNumber 0 bedeutet keine aktive Mission', () {
+      expect(parseMspNavStatusActiveWaypoint(navStatusPayload(0)), isNull);
+    });
+
+    test('activeWpNumber > 0 wird durchgereicht', () {
+      expect(parseMspNavStatusActiveWaypoint(navStatusPayload(5)), 5);
+    });
+  });
+}