Adds MSP_WP (118) support to query the flightcontroller's stored home
point (WP#0 is a special case for this in iNAV's getWaypoint(), per
navigation.c) - the FC reports (0,0,0) rather than an error before one
is set, so parseMspHomePoint() treats that pair as "unset". Rendered
with a small pentagon house icon (design/homepoint-pentagon.svg,
ported to a CustomPainter like the other map icons).
Deliberately not polled continuously: a new home_point_provider.dart
refreshes it only at the three moments the FC's home point can
actually change - connect/reconnect, GPS fix acquired, and arming
(iNAV's default reset_home_type=FIRST_ARM only freezes it at the first
arm; before that it continuously follows the aircraft while disarmed).
Mock's implementation offsets the point 25m from the anchor so it
doesn't sit exactly under the drone marker during UI testing.
Neue Zeile ganz oben mit farblich kodierten Sensor-Badges (ACC/BARO/MAG/
GPS/RNG/OF/PITOT/TEMP, aus dem sensorStatus-Bitfeld von MSP2_INAV_STATUS,
zuvor schon dokumentiert aber ungenutzt), darunter ein Zeilenpaar fuer
Arming-Status und die ersten 3 Temperatursensoren (neu: MSP2_INAV_
TEMPERATURES, 0x201E). Ans Ende der Liste die Steig-/Sinkrate (vario aus
MSP_ALTITUDE, bislang nur die Hoehe selbst wurde daraus gelesen).
- msp_commands.dart: inavTemperatures-Konstante ergaenzt; die Sensor-
Status-Bits (bisher nur als Doc-Kommentar bei MSP2_INAV_STATUS notiert)
zu echten Konstanten (MspSensorStatusBits) promoviert, da jetzt
tatsaechlich gebraucht.
- msp_telemetry_codec.dart: parseMspAltitudeVerticalSpeedMs,
parseMspInavStatusSensorStatus, parseMspInavTemperaturesC ergaenzt +
Unit-Tests.
- TelemetryFrame: sensorStatusBits (Bitmaske, protokollneutral
durchgereicht wie navMode), temperaturesC (erste 3 Sensoren, null je
nicht konfiguriertem Slot), verticalSpeedMs.
- msp_telemetry_poller.dart: vario kommt aus derselben MSP_ALTITUDE-
Antwort wie die Hoehe (keine zusaetzliche Anfrage), sensorStatus aus
derselben MSP2_INAV_STATUS-Antwort wie ARMED; MSP2_INAV_TEMPERATURES neu
im 2-Hz-Statuszyklus abgefragt.
- MockFlightControllerLink: synthetische Sensor-/Temperatur-/Vario-Werte
(kein Pitot/Rangefinder/Opflow am T1 Ranger vorgesehen), leicht
schwankend, damit die neuen Felder auch ohne Hardware sichtbar auf
Werteaenderungen reagieren.
- drone_status_messages_panel.dart: eigene Sensor-Status-Zeile (lokale
Bit-Konstanten statt MSP-Import, analog zum bestehenden navMode-Muster
in domain/telemetry/drone_status.dart, damit die UI protokollneutral
bleibt), Arming+Temperaturen-Zeilenpaar, Vertical-speed-Zeile am Ende.
Auf dem Pixel_10a-Emulator verifiziert: Sensor-Badges gruen/grau je nach
Bitmaske, Arming/Temperaturen-Paar, Vertical speed am Listenende.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Auf Nutzeranfrage die Bedeutung mehrerer MSP2_INAV_*-Codes gegen den
tatsaechlichen iNAV-9.1.0-Quellcode geprueft (fc_msp.c, fc_msp_box.c,
runtime_config.h, settings.yaml):
- msp_commands.dart: Doc-Kommentar zu MSP2_INAV_STATUS (0x2000, bereits
genutzt) um das vollstaendige Bit-Layout von sensorStatus, armingFlags
und boxModeFlags ergaenzt. boxModeFlags ist kein festes Bit-pro-Modus-
Mapping, sondern muss ueber MSP_BOXIDS (ID 119) korreliert werden -
Fixed-Wing-relevante permanentIds mit aufgefuehrt. MspArmingFlags um die
komplette armingFlag_e-Referenz (alle ARMING_DISABLED_*-Gruende)
erweitert, als Dokumentation - nicht als neue Konstanten, da bisher nur
das ARMED-Bit tatsaechlich gebraucht wird.
- DMC_Architektur_und_Design.md (Abschnitt 6): fuenf bisher ungenutzte
MSP2_INAV_*-Befehle als offene Punkte aufgenommen (GEOZONE/SAFEHOME/
BATTERY_CONFIG/AIR_SPEED/TEMPERATURES) mit Payload-Details und
Einschaetzung zur Relevanz - GEOZONE (Geofencing) am interessantesten
fuer die bestehende Flugpfad-Machbarkeitspruefung.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Fills in MspFlightControllerLink.uploadMission(), which previously just
threw UnimplementedError, plus a new verifyMission() (both now on the
generic FlightControllerLink interface, protocol-neutral by signature -
MAVLink/ArduPilot get their own implementation later without touching
callers).
All iNAV-specific encoding lives in the new msp_waypoint_codec.dart:
- encodeMspSetWaypoint(): the 21-byte MSP_SET_WP payload. Action/P1/P2/P3
byte layout was checked against the actual iNAV 9.1.0 source
(navigation.c/navigation.h), not guessed - notably our generic `loiter`
action has no configurable duration, so it maps to
NAV_WP_ACTION_HOLD_TIME with the max representable p1 (int16 max, not
0xFFFF - that would read as -1 and end the hold immediately instead of
never).
- parseMspWpGetInfo(): decodes MSP_WP_GETINFO's validity/count fields,
used by verifyMission() to confirm the FC actually accepted the full
mission (Doku 2.2/4.5 Ready-to-Fly-Gate: "upload + verified").
uploadMission() sends one MSP_SET_WP per waypoint in order (iNAV has no
batch command - WP#1 resets the FC's mission list, every next number must
follow immediately, only the last carries NAV_WP_FLAG_LAST) and rejects
missions above NAV_MAX_WAYPOINTS upfront instead of silently truncating.
MissionSyncService now calls the real verifyMission() instead of always
confirming, throwing MissionVerificationException when the FC doesn't
confirm the mission.
FlyScreen's footer swaps the warnings button for a send button (Doku:
"ersetze den warnings button mit einem wp send button", pink horizontal
PaperPlaneIcon, matching the existing paper-plane drone iconography) -
warnings/event log stay reachable via the drone status pill's Warnings
tab. BottomStatsBar/MissionFooterBar gained onSendTap/sending in place of
the old forceShowWarningsButton.
Verified end to end on the Pixel_10a emulator: tapping send with WLAN as
the active connection type triggers the real WifiNetworkSpecifier flow
through MspFlightControllerLink (correctly reports "no devices found" -
expected, no real mLRS bridge on the emulator); the actual MSP_SET_WP/
MSP_WP_GETINFO wire behavior is covered by tests against a fake FC
responder over LoopbackTransport instead.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Constantin Leue