Put the current mode of the plane into a string

services/common/messages/telemetry.proto

@@ -24,6 +24,7 @@ message Overview {
     Velocity vel = 5;
     Speed speed = 6;
     Battery battery = 7;
+    string mode = 8;
 }
 
 // WGS84 in degrees

services/telemetry/src/mode.js

@@ -0,0 +1,47 @@
+import logger from './common/logger';
+
+const mode_mapping_apm = {
+  0: 'MANUAL',
+  1: 'CIRCLE',
+  2: 'STABILIZE',
+  3: 'TRAINING',
+  4: 'ACRO',
+  5: 'FBWA',
+  6: 'FBWB',
+  7: 'CRUISE',
+  8: 'AUTOTUNE',
+  10: 'AUTO',
+  11: 'RTL',
+  12: 'LOITER',
+  14: 'LAND',
+  15: 'GUIDED',
+  16: 'INITIALISING',
+  17: 'QSTABILIZE',
+  18: 'QHOVER',
+  19: 'QLOITER',
+  20: 'QLAND',
+  21: 'QRTL',
+  22: 'QAUTOTUNE'
+};
+
+let unknownWarn = true;
+
+const MAV_TYPE_FIXED_WING = 1;
+const MAV_AUTOPILOT_ARDUPILOTMEGA = 3;
+
+export function onHeartbeat(fields) {
+
+  let ov = this._overview;
+  ov.time = Date.now() / 1000;
+
+  if (fields.type == MAV_TYPE_FIXED_WING &&
+    fields.autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+    ov.mode = mode_mapping_apm[fields.custom_mode];
+  } else if (unknownWarn) {
+    unknownWarn = false;
+    if (fields.type !== MAV_TYPE_FIXED_WING)
+      logger.warn(`Unknown autopilot ${fields.autopilot}`);
+    if (fields.autopilot !== MAV_AUTOPILOT_ARDUPILOTMEGA)
+      logger.warn(`Unknown vehicle type ${fields.type}`);
+  }
+}

services/telemetry/src/plane.js

@@ -5,6 +5,7 @@ import logger from './common/logger';
 import MavlinkSocket from './mavlink-socket';
 import { receiveMission, sendMission, sendMissionCurrent } from './mission';
 import { degrees, modDegrees360, modDegrees180 } from './util';
+import { onHeartbeat } from './mode';
 
 const ConnectionState = Object.freeze({
   NOT_CONNECTED: Symbol('not_connected'),
@@ -39,7 +40,8 @@ export default class Plane {
       alt: {},
       vel: {},
       speed: {},
-      battery: {}
+      battery: {},
+      mode: ''
     });
 
     // Will be assigned on each GLOBAL_POSITION_INT message.
@@ -245,7 +247,8 @@ export default class Plane {
       'MISSION_CURRENT': this._onMissionCurrent.bind(this),
       'MISSION_ITEM': this._onMissionItem.bind(this),
       'VFR_HUD': this._onVfrHud.bind(this),
-      'SYS_STATUS': this._onSysStatus.bind(this)
+      'SYS_STATUS': this._onSysStatus.bind(this),
+      'HEARTBEAT': onHeartbeat.bind(this)
     };
 
     // Make every message definition .on

services/telemetry/test/service.test.js

@@ -27,6 +27,7 @@ beforeAll(async () => {
   await planeSitl.start();
 
   planeIp = (await planeSitl.inspect()).NetworkSettings.IPAddress;
+
 }, 10000);
 
 // Stop the plane-sitl container.
@@ -193,6 +194,7 @@ test('get overview telemetry', async () => {
 
   expect(res.status).toEqual(200);
   expect(res.body.pos.lat).toBeTruthy();
+  expect(res.body.mode).toEqual('MANUAL');
 });
 
 // Take down the service once the other service tests are done.