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>
Fly mode previously showed just a black placeholder. It now renders the
same MissionMap (route + waypoint markers) and footer (warnings banner,
altitude profile, BottomStatsBar) as the Plan screen, minus the
reticle/wheels since flying observes the route rather than replanning it.
Waypoints can still be edited via the details list for spontaneous
in-flight changes.
Live drone position comes from a new telemetryProvider/
flightControllerLinkProvider pair (autoDispose), the first place
FlightControllerLink/TelemetryFrame get wired into the UI - currently
backed by MockFlightControllerLink until a real MSP transport exists
(Doku 4.19). A drone marker renders on the map once a telemetry frame
arrives.
The Fly-mode header keeps the fit-to-area button but replaces "zoom to
home" with "zoom to drone" (FlyMapControls) - the first waypoint isn't a
meaningful reference point anymore once airborne.
Extracted computeMissionStats and MissionFooterBar out of PlanScreen so
Plan/Fly share the exact same stats/footer logic instead of duplicating
it, and extracted NavIconButton out of MapSearchControls so both Plan's
and Fly's map controls use the same button widget.
Widget tests that now mount FlyScreen switch from the ProviderScope-based
_wrap() helper to a manual ProviderContainer with an explicit
FlightControllerLink.disconnect() call before test end - the mock's
Timer.periodic doesn't get cancelled by container disposal alone, and
flutter_test's pending-timer check runs before addTearDown callbacks.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
- TopModeBar widget: persistent pill-shaped header (HTML prototype:
#topBarWrap/#editModeBtn/#flyModeBtn) tinted in the active mode's color,
with the inactive mode offered as a solid button in the corner to switch
into it.
- AppShell now provides a single shared Scaffold + Stack, overlaying
TopModeBar on top of whichever screen (Plan/Fly) is active, instead of
each screen owning its own Scaffold.
- Wired the Fly button to AppModeCubit.toFly(), which enforces the
Ready-to-Fly gate (doc 4.5). Since upload/verify isn't wired up yet, the
gate is never satisfied yet, so tapping Fly now shows a SnackBar instead
of throwing an uncaught StateError.
- Extended the widget test to cover both the bar's presence and the
gate-rejection path (was the source of a real bug: an initial
negative-margin Container hack for the "bleed into the corner" look
violated Container's margin.isNonNegative assertion and crashed the
whole tree - fixed with padding instead).
Verified with flutter analyze, flutter test, and a real run on the
Pixel_10a emulator (visually matches the prototype screenshots in design/,
Fly-tap correctly shows the gate message without crashing or switching mode).
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
