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

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);
+    });
+  });
 }