67 lines
2.2 KiB
Dart
67 lines
2.2 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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