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

2026-08-02 21:09:33 +02:00
parent 11f894919b
commit 35c4129eb7
9 changed files with 186 additions and 11 deletions
@@ -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];