add telemetry messages: rx link quality, battery percentage, flight mode, relative altitude

app/lib/transport/flight_controller_link.dart

@@ -34,6 +34,9 @@ class TelemetryFrame {
     required this.speedMs,
     required this.headingDeg,
     required this.armed,
+    required this.batteryPercent,
+    required this.linkQuality,
+    required this.flightMode,
     this.activeWaypointIndex,
   });
 
@@ -43,6 +46,11 @@ class TelemetryFrame {
   final double lon;
   final bool hasFix;
   final int numSat;
+
+  /// Barometrisch/GPS-fusionierte Hoehe relativ zum Referenzpunkt der
+  /// Positionsschaetzung (in der Praxis: Einschaltort, siehe
+  /// MspNavMode-/estAlt-Doku in msp_telemetry_codec.dart) - keine absolute
+  /// Hoehe ueber Meeresspiegel.
   final double altitudeM;
   final double speedMs;
 
@@ -50,6 +58,17 @@ class TelemetryFrame {
   /// Drohnen-Marker (Doku 3.10, [DroneMarkerIcon]).
   final double headingDeg;
   final bool armed;
+
+  /// Akku-Ladestand in Prozent (0-100).
+  final int batteryPercent;
+
+  /// Empfaenger-Linkqualitaet in Prozent (0-100).
+  final int linkQuality;
+
+  /// Menschenlesbare Kurzbeschreibung des Navigationsmodus (z.B. "Waypoint
+  /// mission (en route)", "Return to home (climbing)", "Idle") - siehe
+  /// MspNavMode.formatted in msp_telemetry_codec.dart.
+  final String flightMode;
   final int? activeWaypointIndex;
 }
 

app/lib/transport/mock/mock_flight_controller_link.dart

@@ -11,6 +11,7 @@ class MockFlightControllerLink implements FlightControllerLink {
   StreamController<TelemetryFrame>? _telemetryController;
   Timer? _ticker;
   double _heading = 0;
+  double _batteryPercent = 100;
 
   @override
   FcCapabilities get capabilities => const FcCapabilities(
@@ -28,6 +29,9 @@ class MockFlightControllerLink implements FlightControllerLink {
       // sichtbar ueberprueft werden kann (Doku 9: UI-Entwicklung ohne
       // Hardware).
       _heading = (_heading + 5) % 360;
+      // Langsam sinkender Akkustand, damit die Anzeige auch ohne Hardware
+      // sichtbar auf Werteaenderungen reagiert (Doku 9).
+      _batteryPercent = (_batteryPercent - 0.1).clamp(0, 100);
       _telemetryController?.add(TelemetryFrame(
         lat: 52.5,
         lon: 13.4,
@@ -37,6 +41,11 @@ class MockFlightControllerLink implements FlightControllerLink {
         speedMs: 18,
         headingDeg: _heading,
         armed: _armed,
+        batteryPercent: _batteryPercent.round(),
+        linkQuality: 95,
+        flightMode: _activeWaypointIndex != null
+            ? 'Waypoint mission (en route)'
+            : 'Idle',
         activeWaypointIndex: _activeWaypointIndex,
       ));
     });

app/lib/transport/msp/msp_commands.dart

@@ -28,6 +28,22 @@ abstract final class MspCommands {
   /// (`fc_msp.c`, `case MSP2_INAV_STATUS`; ID aus
   /// `msp_protocol_v2_inav.h`: `#define MSP2_INAV_STATUS 0x2000`)
   static const int inavStatus = 0x2000;
+
+  /// Response (24 Byte): u8 flags, u16 batteryVoltage(0.01V),
+  /// u16 amperage(0.01A), u32 power, u32 mAhDrawn, u32 mWhDrawn,
+  /// u32 remainingCapacity, u8 batteryPercentage(0-100, bereits fertig
+  /// berechnet ueber `calculateBatteryPercentage()`), u16 legacyRssi
+  /// (0-1023, veraltete Skala - siehe stattdessen [inavLinkStats]).
+  /// (`fc_msp.c`, `case MSP2_INAV_ANALOG`; ID aus
+  /// `msp_protocol_v2_inav.h`: `#define MSP2_INAV_ANALOG 0x2002`)
+  static const int inavAnalog = 0x2002;
+
+  /// Response (3 Byte): u8 uplinkRssiDbm (negiert gespeichert als
+  /// `-rxLinkStatistics.uplinkRSSI`), u8 uplinkLinkQuality (0-100%,
+  /// `rxLinkStatistics.uplinkLQ` - das ist die "Receiver Link Quality"),
+  /// i8 uplinkSnr. (`fc_msp.c`, `case MSP2_INAV_GET_LINK_STATS`; ID aus
+  /// `msp_protocol_v2_inav.h`: `#define MSP2_INAV_GET_LINK_STATS 0x2103`)
+  static const int inavLinkStats = 0x2103;
 }
 
 /// Bits von `armingFlags` (Doku: `fc/runtime_config.h`, `armingFlags_e`).

app/lib/transport/msp/msp_telemetry_codec.dart

@@ -64,3 +64,61 @@ int? parseMspNavStatusActiveWaypoint(Uint8List payload) {
   final activeWpNumber = payload[3];
   return activeWpNumber == 0 ? null : activeWpNumber;
 }
+
+/// Parst `mode`/`state` aus der `MSP_NAV_STATUS`-Antwort (Byte 0/1, siehe
+/// [MspCommands.navStatus]) - Rohwerte aus `navSystemStatus_Mode_e`/
+/// `navSystemStatus_State_e` (`navigation.h`, iNAV 9.1.0). [formatted]
+/// bildet daraus eine fuer die UI lesbare Kurzbeschreibung (Doku: "drone
+/// flight mode" im Settings-Telemetriepanel).
+class MspNavMode {
+  const MspNavMode({required this.mode, required this.state});
+
+  final int mode;
+  final int state;
+
+  /// `MW_GPS_MODE_*`-Namen (0=None, 1=Hold, 2=RTH, 3=Nav/Waypoint,
+  /// 15=Emergency) - mode 0 heisst nur "keine GPS-Nav-Uebersteuerung aktiv",
+  /// nicht "Manual/Acro": die reine Fluglage (Angle/Horizon/Acro) ist ueber
+  /// MSP_NAV_STATUS nicht sichtbar (dafuer waere MSP_BOXNAMES+boxModeFlags
+  /// noetig, hier bewusst nicht umgesetzt).
+  static const _modeNames = {0: 'Idle', 1: 'Position hold', 2: 'Return to home', 3: 'Waypoint mission', 15: 'Emergency'};
+
+  /// `MW_NAV_STATE_*`-Namen, nur die fuer die Kurzanzeige relevanten.
+  static const _stateNames = {
+    1: 'starting',
+    2: 'en route',
+    3: 'holding',
+    4: 'holding (timed)',
+    5: 'en route to WP',
+    6: 'next waypoint',
+    7: 'jump',
+    8: 'landing',
+    9: 'landing',
+    10: 'landed',
+    11: 'landing',
+    12: 'descending',
+    13: 'hover above home',
+    14: 'emergency landing',
+    15: 'climbing',
+  };
+
+  String get formatted {
+    final modeLabel = _modeNames[mode] ?? 'Unknown ($mode)';
+    final stateLabel = _stateNames[state];
+    return stateLabel == null ? modeLabel : '$modeLabel ($stateLabel)';
+  }
+}
+
+MspNavMode parseMspNavMode(Uint8List payload) {
+  return MspNavMode(mode: payload[0], state: payload[1]);
+}
+
+/// Parst die `MSP2_INAV_ANALOG`-Antwort und liefert den Akku-Ladestand in
+/// Prozent (Offset 21, `calculateBatteryPercentage()` - bereits fertig auf
+/// 0-100 berechnet, siehe [MspCommands.inavAnalog]).
+int parseMspInavAnalogBatteryPercent(Uint8List payload) => payload[21];
+
+/// Parst die `MSP2_INAV_GET_LINK_STATS`-Antwort und liefert die
+/// Empfaenger-Linkqualitaet in Prozent (Offset 1, `rxLinkStatistics.uplinkLQ`
+/// - bereits 0-100, siehe [MspCommands.inavLinkStats]).
+int parseMspLinkQuality(Uint8List payload) => payload[1];

app/lib/transport/msp/msp_telemetry_poller.dart

@@ -14,13 +14,11 @@ import 'msp_telemetry_codec.dart';
 ///
 /// - Position/Lage/Hoehe (5-10 Hz): jeden Zyklus (`MSP_RAW_GPS` +
 ///   `MSP_ALTITUDE`).
-/// - Status/Flugmodus (2 Hz): jeden [_statusEveryNCycles]-ten Zyklus
-///   (`MSP2_INAV_STATUS` + `MSP_NAV_STATUS`).
-///
-/// Spannung/Strom (1 Hz laut Doku) fehlt hier bewusst noch - [TelemetryFrame]
-/// hat aktuell keine Felder dafuer; sobald die UI das braucht, ist ein
-/// dritter, noch selteners abgefragter Zweig (`MSP2_INAV_ANALOG`) trivial
-/// ergaenzt.
+/// - Status/Flugmodus/Akku/Link (2 Hz): jeden [_statusEveryNCycles]-ten
+///   Zyklus (`MSP2_INAV_STATUS`, `MSP_NAV_STATUS`, `MSP2_INAV_ANALOG`,
+///   `MSP2_INAV_GET_LINK_STATS`) - Flugmodus wird aus derselben
+///   `MSP_NAV_STATUS`-Antwort gelesen wie der aktive Wegpunkt, keine
+///   zusaetzliche Anfrage noetig.
 ///
 /// Der Strom wird NICHT auf einen gueltigen GPS-Fix gegated - jeder Zyklus
 /// emittiert ein [TelemetryFrame], auch ohne Fix (dann mit `hasFix: false`
@@ -40,6 +38,9 @@ class MspTelemetryPoller {
   int _cycle = 0;
   bool _armed = false;
   int? _activeWaypointIndex;
+  int _batteryPercent = 0;
+  int _linkQuality = 0;
+  String _flightMode = 'Idle';
 
   Stream<TelemetryFrame> get frames => _framesController.stream;
 
@@ -78,8 +79,14 @@ class MspTelemetryPoller {
       _armed = parseMspInavStatusArmed(
         await _client.request(MspCommands.inavStatus),
       );
-      _activeWaypointIndex = parseMspNavStatusActiveWaypoint(
-        await _client.request(MspCommands.navStatus),
+      final navStatusPayload = await _client.request(MspCommands.navStatus);
+      _activeWaypointIndex = parseMspNavStatusActiveWaypoint(navStatusPayload);
+      _flightMode = parseMspNavMode(navStatusPayload).formatted;
+      _batteryPercent = parseMspInavAnalogBatteryPercent(
+        await _client.request(MspCommands.inavAnalog),
+      );
+      _linkQuality = parseMspLinkQuality(
+        await _client.request(MspCommands.inavLinkStats),
       );
     }
 
@@ -93,6 +100,9 @@ class MspTelemetryPoller {
         speedMs: gps.speedMs,
         headingDeg: gps.headingDeg,
         armed: _armed,
+        batteryPercent: _batteryPercent,
+        linkQuality: _linkQuality,
+        flightMode: _flightMode,
         activeWaypointIndex: _activeWaypointIndex,
       ));
     }

app/lib/ui/screens/settings/settings_screen.dart

@@ -273,6 +273,9 @@ class _TelemetryFields extends StatelessWidget {
         _field('Speed', '${t.speedMs.toStringAsFixed(1)} m/s'),
         _field('Heading', '${t.headingDeg.toStringAsFixed(0)}°'),
         _field('Armed', t.armed ? 'Yes' : 'No'),
+        _field('Battery', '${t.batteryPercent}%'),
+        _field('Link quality', '${t.linkQuality}%'),
+        _field('Flight mode', t.flightMode),
         if (t.activeWaypointIndex != null)
           _field('Active WP', '${t.activeWaypointIndex}'),
       ],

app/test/transport/msp/msp_flight_controller_link_test.dart

@@ -43,7 +43,16 @@ Timer _startFakeFlightController(
           d.setUint32(9, 1 << 2, Endian.little); // ARMED
           payload = d.buffer.asUint8List();
         case MspCommands.navStatus:
-          payload = Uint8List.fromList([0, 0, 0, 3, 0, 0, 0]); // WP #3 aktiv
+          // mode=3 (Nav/Waypoint), state=5 (WP_ENROUTE), WP #3 aktiv.
+          payload = Uint8List.fromList([3, 5, 0, 3, 0, 0, 0]);
+        case MspCommands.inavAnalog:
+          final d = ByteData(24);
+          d.setUint8(21, 77); // Batterie-Prozent
+          payload = d.buffer.asUint8List();
+        case MspCommands.inavLinkStats:
+          final d = ByteData(3);
+          d.setUint8(1, 88); // Linkqualitaet %
+          payload = d.buffer.asUint8List();
         default:
           payload = Uint8List(0);
       }
@@ -65,7 +74,10 @@ void main() {
       final link = MspFlightControllerLink(transport: transport);
 
       await link.connect();
-      final frame = await link.subscribeTelemetry().first;
+      // Armed/Akku/Link/Flugmodus/aktiver Wegpunkt werden nur jeden dritten
+      // Zyklus aufgefrischt (siehe MspTelemetryPoller._statusEveryNCycles) -
+      // erst ab dem dritten emittierten Frame garantiert befuellt.
+      final frame = await link.subscribeTelemetry().skip(2).first;
 
       expect(frame.lat, closeTo(52.52, 1e-6));
       expect(frame.lon, closeTo(13.405, 1e-6));
@@ -74,6 +86,9 @@ void main() {
       expect(frame.altitudeM, closeTo(50.0, 1e-6));
       expect(frame.speedMs, closeTo(5.0, 1e-6));
       expect(frame.headingDeg, closeTo(270.0, 1e-6));
+      expect(frame.batteryPercent, 77);
+      expect(frame.linkQuality, 88);
+      expect(frame.flightMode, 'Waypoint mission (en route to WP)');
 
       await link.disconnect();
       responder.cancel();

app/test/transport/msp/msp_telemetry_codec_test.dart

@@ -94,4 +94,48 @@ void main() {
       expect(parseMspNavStatusActiveWaypoint(navStatusPayload(5)), 5);
     });
   });
+
+  group('parseMspNavMode/MspNavMode.formatted', () {
+    Uint8List navStatusPayload(int mode, int state) {
+      return Uint8List.fromList([mode, state, 0, 0, 0, 0, 0]);
+    }
+
+    test('mode 0 (None) ohne state', () {
+      final nav = parseMspNavMode(navStatusPayload(0, 0));
+      expect(nav.mode, 0);
+      expect(nav.state, 0);
+      expect(nav.formatted, 'Idle');
+    });
+
+    test('mode 3 (Nav/Waypoint) + state 5 (WP_ENROUTE)', () {
+      final nav = parseMspNavMode(navStatusPayload(3, 5));
+      expect(nav.formatted, 'Waypoint mission (en route to WP)');
+    });
+
+    test('mode 2 (RTH) + state 15 (RTH_CLIMB)', () {
+      final nav = parseMspNavMode(navStatusPayload(2, 15));
+      expect(nav.formatted, 'Return to home (climbing)');
+    });
+
+    test('unbekannter mode faellt auf Nummer zurueck', () {
+      final nav = parseMspNavMode(navStatusPayload(7, 0));
+      expect(nav.formatted, 'Unknown (7)');
+    });
+  });
+
+  group('parseMspInavAnalogBatteryPercent', () {
+    test('liest Batterie-Prozent an Offset 21', () {
+      final payload = Uint8List(24);
+      payload[21] = 42;
+      expect(parseMspInavAnalogBatteryPercent(payload), 42);
+    });
+  });
+
+  group('parseMspLinkQuality', () {
+    test('liest Linkqualitaet an Offset 1', () {
+      final payload = Uint8List(3);
+      payload[1] = 87;
+      expect(parseMspLinkQuality(payload), 87);
+    });
+  });
 }