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Put the current mode of the plane into a string #50

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Put the current mode of the plane into a string #50

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caf2a29
Put the current mode of the plane into a string
vinaxue Apr 12, 2019
831212b
Validate autopilot and vehicle type
zhangirisz Apr 26, 2019
f429ace
Fix file permissions for telemetry
oldmud0 Apr 26, 2019
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1 change: 1 addition & 0 deletions services/common/messages/telemetry.proto
100644 → 100755
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ message Overview {
Velocity vel = 5;
Speed speed = 6;
Battery battery = 7;
string mode = 8;
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Hmm, I wonder if we should enumerate the mode. This works for now though, and enumerating has complications because the custom mode differs based on the firmware.

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Can add an endpoint for returning the available modes for the autopilot in strings for the future?

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Also the file mode on this file changed in the commit

}

// WGS84 in degrees
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37 changes: 35 additions & 2 deletions services/telemetry/src/plane.js
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Expand Up @@ -13,6 +13,30 @@ const ConnectionState = Object.freeze({
WRITING: Symbol('writing')
});

let 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'
};

/** Holds the state of a plane over a MAVLink UDP connection. */
export default class Plane {
/**
Expand All @@ -39,7 +63,8 @@ export default class Plane {
alt: {},
vel: {},
speed: {},
battery: {}
battery: {},
mode: ''
});

// Will be assigned on each GLOBAL_POSITION_INT message.
Expand Down Expand Up @@ -245,7 +270,8 @@ 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': this._onHeartbeat.bind(this)
};

// Make every message definition .on
Expand Down Expand Up @@ -338,4 +364,11 @@ export default class Plane {
ov.battery.current = fields.current_battery / 100;
ov.battery.percentage = fields.battery_remaining;
}

async _onHeartbeat(fields) {
let ov = this._overview;

ov.time = Date.now() / 1000;
ov.mode = mode_mapping_apm[fields.custom_mode];
}
}
1 change: 1 addition & 0 deletions services/telemetry/test/service.test.js
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Expand Up @@ -27,6 +27,7 @@ beforeAll(async () => {
await planeSitl.start();

planeIp = (await planeSitl.inspect()).NetworkSettings.IPAddress;

}, 10000);

// Stop the plane-sitl container.
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