125 lines
4.3 KiB
Dart
125 lines
4.3 KiB
Dart
import 'dart:typed_data';
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import 'msp_commands.dart';
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/// GPS-Rohwerte aus `MSP_RAW_GPS` (Doku Kommunikationsschicht Abschnitt 4).
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class MspGpsReading {
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const MspGpsReading({
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required this.fixType,
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required this.numSat,
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required this.lat,
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required this.lon,
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required this.speedMs,
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required this.headingDeg,
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});
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/// 0 = kein Fix (`fc_msp.c`: `gpsSol.fixType`).
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final int fixType;
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final int numSat;
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final double lat;
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final double lon;
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final double speedMs;
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/// Kurs ueber Grund in Grad (0 = Norden, im Uhrzeigersinn), aus
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/// `groundCourse` - nur bei [hasFix] aussagekraeftig.
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final double headingDeg;
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bool get hasFix => fixType != 0;
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}
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/// Parst die `MSP_RAW_GPS`-Antwort (Byte-Layout siehe [MspCommands.rawGps]).
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MspGpsReading parseMspRawGps(Uint8List payload) {
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final data = ByteData.sublistView(payload);
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return MspGpsReading(
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fixType: data.getUint8(0),
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numSat: data.getUint8(1),
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lat: data.getInt32(2, Endian.little) / 1e7,
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lon: data.getInt32(6, Endian.little) / 1e7,
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speedMs: data.getUint16(12, Endian.little) / 100.0,
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headingDeg: data.getUint16(14, Endian.little) / 10.0,
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);
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}
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/// Parst die `MSP_ALTITUDE`-Antwort und liefert die geschaetzte Hoehe in
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/// Metern (siehe [MspCommands.altitude]).
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double parseMspAltitudeMeters(Uint8List payload) {
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final data = ByteData.sublistView(payload);
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return data.getInt32(0, Endian.little) / 100.0;
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}
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/// Parst die `MSP2_INAV_STATUS`-Antwort und liefert, ob der ARMED-Bit in
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/// `armingFlags` gesetzt ist (siehe [MspCommands.inavStatus]).
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bool parseMspInavStatusArmed(Uint8List payload) {
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final data = ByteData.sublistView(payload);
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// Offset 9 = cycleTime(2) + i2cErrors(2) + sensorStatus(2) + avgLoad(2)
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// + Profil-Byte(1), siehe fc_msp.c/MSP2_INAV_STATUS.
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final armingFlags = data.getUint32(9, Endian.little);
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return (armingFlags & MspArmingFlags.armed) != 0;
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}
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/// Parst die `MSP_NAV_STATUS`-Antwort und liefert den aktiven
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/// Wegpunktindex, oder null, wenn keine Mission aktiv ist (`activeWpNumber
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/// == 0`, siehe [MspCommands.navStatus]).
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int? parseMspNavStatusActiveWaypoint(Uint8List payload) {
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final activeWpNumber = payload[3];
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return activeWpNumber == 0 ? null : activeWpNumber;
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}
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/// Parst `mode`/`state` aus der `MSP_NAV_STATUS`-Antwort (Byte 0/1, siehe
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/// [MspCommands.navStatus]) - Rohwerte aus `navSystemStatus_Mode_e`/
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/// `navSystemStatus_State_e` (`navigation.h`, iNAV 9.1.0). [formatted]
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/// bildet daraus eine fuer die UI lesbare Kurzbeschreibung (Doku: "drone
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/// flight mode" im Settings-Telemetriepanel).
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class MspNavMode {
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const MspNavMode({required this.mode, required this.state});
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final int mode;
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final int state;
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/// `MW_GPS_MODE_*`-Namen (0=None, 1=Hold, 2=RTH, 3=Nav/Waypoint,
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/// 15=Emergency) - mode 0 heisst nur "keine GPS-Nav-Uebersteuerung aktiv",
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/// nicht "Manual/Acro": die reine Fluglage (Angle/Horizon/Acro) ist ueber
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/// MSP_NAV_STATUS nicht sichtbar (dafuer waere MSP_BOXNAMES+boxModeFlags
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/// noetig, hier bewusst nicht umgesetzt).
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static const _modeNames = {0: 'Idle', 1: 'Position hold', 2: 'Return to home', 3: 'Waypoint mission', 15: 'Emergency'};
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/// `MW_NAV_STATE_*`-Namen, nur die fuer die Kurzanzeige relevanten.
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static const _stateNames = {
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1: 'starting',
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2: 'en route',
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3: 'holding',
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4: 'holding (timed)',
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5: 'en route to WP',
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6: 'next waypoint',
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7: 'jump',
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8: 'landing',
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9: 'landing',
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10: 'landed',
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11: 'landing',
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12: 'descending',
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13: 'hover above home',
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14: 'emergency landing',
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15: 'climbing',
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};
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String get formatted {
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final modeLabel = _modeNames[mode] ?? 'Unknown ($mode)';
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final stateLabel = _stateNames[state];
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return stateLabel == null ? modeLabel : '$modeLabel ($stateLabel)';
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}
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}
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MspNavMode parseMspNavMode(Uint8List payload) {
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return MspNavMode(mode: payload[0], state: payload[1]);
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}
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/// Parst die `MSP2_INAV_ANALOG`-Antwort und liefert den Akku-Ladestand in
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/// Prozent (Offset 21, `calculateBatteryPercentage()` - bereits fertig auf
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/// 0-100 berechnet, siehe [MspCommands.inavAnalog]).
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int parseMspInavAnalogBatteryPercent(Uint8List payload) => payload[21];
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/// Parst die `MSP2_INAV_GET_LINK_STATS`-Antwort und liefert die
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/// Empfaenger-Linkqualitaet in Prozent (Offset 1, `rxLinkStatistics.uplinkLQ`
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/// - bereits 0-100, siehe [MspCommands.inavLinkStats]).
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int parseMspLinkQuality(Uint8List payload) => payload[1];
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