msp over wifi implemented

app/lib/transport/flight_controller_link.dart

@@ -23,6 +23,7 @@ class TelemetryFrame {
     required this.lon,
     required this.altitudeM,
     required this.speedMs,
+    required this.headingDeg,
     required this.armed,
     this.activeWaypointIndex,
   });
@@ -31,6 +32,10 @@ class TelemetryFrame {
   final double lon;
   final double altitudeM;
   final double speedMs;
+
+  /// Kurs ueber Grund in Grad (0 = Norden, im Uhrzeigersinn) - dreht den
+  /// Drohnen-Marker (Doku 3.10, [DroneMarkerIcon]).
+  final double headingDeg;
   final bool armed;
   final int? activeWaypointIndex;
 }

app/lib/transport/mock/mock_flight_controller_link.dart

@@ -10,6 +10,7 @@ class MockFlightControllerLink implements FlightControllerLink {
   int? _activeWaypointIndex;
   StreamController<TelemetryFrame>? _telemetryController;
   Timer? _ticker;
+  double _heading = 0;
 
   @override
   FcCapabilities get capabilities => const FcCapabilities(
@@ -22,11 +23,17 @@ class MockFlightControllerLink implements FlightControllerLink {
   Future<void> connect() async {
     _telemetryController = StreamController<TelemetryFrame>.broadcast();
     _ticker = Timer.periodic(const Duration(seconds: 1), (_) {
+      // Kurs dreht sich langsam weiter statt fest zu stehen, damit die
+      // Rotation des Drohnen-Markers (DroneMarkerIcon) auch ohne Hardware
+      // sichtbar ueberprueft werden kann (Doku 9: UI-Entwicklung ohne
+      // Hardware).
+      _heading = (_heading + 5) % 360;
       _telemetryController?.add(TelemetryFrame(
         lat: 52.5,
         lon: 13.4,
         altitudeM: 120,
         speedMs: 18,
+        headingDeg: _heading,
         armed: _armed,
         activeWaypointIndex: _activeWaypointIndex,
       ));

app/lib/transport/msp/msp_telemetry_codec.dart

@@ -10,6 +10,7 @@ class MspGpsReading {
     required this.lat,
     required this.lon,
     required this.speedMs,
+    required this.headingDeg,
   });
 
   /// 0 = kein Fix (`fc_msp.c`: `gpsSol.fixType`).
@@ -19,6 +20,10 @@ class MspGpsReading {
   final double lon;
   final double speedMs;
 
+  /// Kurs ueber Grund in Grad (0 = Norden, im Uhrzeigersinn), aus
+  /// `groundCourse` - nur bei [hasFix] aussagekraeftig.
+  final double headingDeg;
+
   bool get hasFix => fixType != 0;
 }
 
@@ -31,6 +36,7 @@ MspGpsReading parseMspRawGps(Uint8List payload) {
     lat: data.getInt32(2, Endian.little) / 1e7,
     lon: data.getInt32(6, Endian.little) / 1e7,
     speedMs: data.getUint16(12, Endian.little) / 100.0,
+    headingDeg: data.getUint16(14, Endian.little) / 10.0,
   );
 }
 

app/lib/transport/msp/msp_telemetry_poller.dart

@@ -90,6 +90,7 @@ class MspTelemetryPoller {
         lon: gps.lon,
         altitudeM: altitudeM,
         speedMs: gps.speedMs,
+        headingDeg: gps.headingDeg,
         armed: _armed,
         activeWaypointIndex: _activeWaypointIndex,
       ));

app/lib/transport/udp/udp_transport.dart

@@ -101,6 +101,15 @@ class UdpTransport implements LinkTransport {
 
   @override
   Future<void> connect() async {
+    // Idempotent: mehrere Aufrufer koennen unabhaengig voneinander "sorg
+    // dafuer, dass wir verbunden sind" anfordern (z.B. der Auto-Connect-
+    // Trigger beim Wechsel in den Fly-Modus UND der MSP-Telemetrie-Consumer,
+    // der denselben Transport braucht) - ohne diese Sperre wuerde der
+    // zweite Aufruf eine weitere WifiNetworkSpecifier-Anfrage samt
+    // Systemdialog auslösen, waehrend die erste noch laeuft.
+    if (_state == LinkState.connecting || _state == LinkState.connected) {
+      return;
+    }
     _lastErrorReason = null;
     _lastErrorMessage = null;
     _setState(LinkState.connecting);