Add prearm check status to dashboard (#1073)

* Add prearm check status to dashboard

* Address copilot review comments

Author: 1Blademaster

gcs/src/components/dashboard/telemetrySection/telemetry.jsx

@@ -16,6 +16,7 @@ import {
   selectHomePosition,
   selectIsArmed,
   selectNavController,
+  selectReadyToArm,
   selectTelemetry,
 } from "../../../redux/slices/droneInfoSlice"
 import EkfDisplay from "./ekfDisplay"
@@ -32,6 +33,7 @@ export default function TelemetrySection({
   const flightMode = useSelector(selectFlightModeString)
   const gpsData = useSelector(selectGPS)
   const isArmed = useSelector(selectIsArmed)
+  const readyToArm = useSelector(selectReadyToArm)
   const telemetryData = useSelector(selectTelemetry)
   const attitudeData = useSelector(selectAttitude)
   const navControllerOutputData = useSelector(selectNavController)
@@ -58,6 +60,14 @@ export default function TelemetrySection({
     <div>
       {/* Information above indicators */}
       <div className="flex flex-col items-center gap-4 py-4 cursor-default">
+        {!isArmed && (
+          <Text
+            size={`${telemetryFontSize * 1.5}rem`}
+            c={readyToArm ? "green.6" : "red.6"}
+          >
+            {readyToArm ? "Ready to arm" : "Not ready to arm"}
+          </Text>
+        )}
         <Text
           fw={700}
           size={`${telemetryFontSize * 1.5}rem`}

gcs/src/redux/middleware/socketMiddleware.js

@@ -62,9 +62,9 @@ import {
   setRadioPwmChannels,
   setRefreshingFlightModeData,
   setRefreshingGripperConfigData,
-  setShowMotorTestWarningModal,
   setServoConfig,
   setServoPwmOutputs,
+  setShowMotorTestWarningModal,
   updateChannelsConfigParam,
   updateGripperConfigParam,
   updateServoConfigParam,
@@ -90,6 +90,7 @@ import {
   setLoiterRadius,
   setNavControllerOutput,
   setOnboardControlSensorsEnabled,
+  setOnboardControlSensorsHealth,
   setRSSIData,
   setTelemetryData,
   setTotalTimeFlying,
@@ -272,6 +273,9 @@ const socketMiddleware = (store) => {
         store.dispatch(
           setOnboardControlSensorsEnabled(msg.onboard_control_sensors_enabled),
         )
+        store.dispatch(
+          setOnboardControlSensorsHealth(msg.onboard_control_sensors_health),
+        )
         break
       case "GPS_RAW_INT": {
         // MAVLink GPS_RAW_INT provides 'eph' (HDOP * 100).

gcs/src/redux/slices/droneInfoSlice.js

@@ -8,6 +8,8 @@ import {
   MAV_STATE,
 } from "../../helpers/mavlinkConstants"
 
+const MAV_SYS_STATUS_PREARM_CHECK = 268435456
+
 // TODO: Make this configurable in the future?
 const GPS_TRACK_MAX_LENGTH = 300
 
@@ -56,6 +58,7 @@ const droneInfoSlice = createSlice({
       systemStatus: 0,
     },
     onboardControlSensorsEnabled: 0,
+    onboardControlSensorsHealth: 0,
     gpsRawIntData: {
       fixType: 0,
       satellitesVisible: 0,
@@ -259,6 +262,11 @@ const droneInfoSlice = createSlice({
         state.onboardControlSensorsEnabled = action.payload
       }
     },
+    setOnboardControlSensorsHealth: (state, action) => {
+      if (action.payload !== state.onboardControlSensorsHealth) {
+        state.onboardControlSensorsHealth = action.payload
+      }
+    },
     setRSSIData: (state, action) => {
       if (action.payload !== state.rssi) {
         state.rssi = action.payload
@@ -345,8 +353,18 @@ const droneInfoSlice = createSlice({
     selectNotificationSound: (state) => state.notificationSound,
     selectFlightMode: (state) => state.heartbeatData.customMode,
     selectSystemStatus: (state) => MAV_STATE[state.heartbeatData.systemStatus],
-    selectPrearmEnabled: (state) =>
-      state.onboardControlSensorsEnabled & 268435456,
+    selectReadyToArm: (state) => {
+      const isEnabled = !!(
+        state.onboardControlSensorsEnabled & MAV_SYS_STATUS_PREARM_CHECK
+      )
+      const isHealthy = !!(
+        state.onboardControlSensorsHealth & MAV_SYS_STATUS_PREARM_CHECK
+      )
+
+      // If pre-arm check is enabled, it must also be healthy
+      // If pre-arm check is disabled, just check if it's healthy
+      return isEnabled ? isHealthy : isHealthy
+    },
     selectGPSRawInt: (state) => state.gpsRawIntData,
     selectGPS2RawInt: (state) => state.gps2RawIntData,
     selectHasSecondaryGps: (state) => state.hasSecondaryGps,
@@ -386,6 +404,7 @@ export const {
   setHasEverHadGpsFix,
   setBatteryData,
   setOnboardControlSensorsEnabled,
+  setOnboardControlSensorsHealth,
   setRSSIData,
   setGraphValues,
   setLastGraphMessage,
@@ -498,7 +517,7 @@ export const {
   selectHeartbeat,
   selectIsArmed,
   selectIsFlying,
-  selectPrearmEnabled,
+  selectReadyToArm,
   selectGPSRawInt,
   selectGPS2RawInt,
   selectHasSecondaryGps,