- Moved map to MAVlink constants

- Changed max data stream rate to 15
- Included logging statements and stream rate validation in backend
- Formatted

Author: ProgramPhantom

gcs/src/components/settingsModal.jsx

@@ -33,21 +33,10 @@ import {
 } from "../helpers/notification"
 import { useDispatch } from "react-redux"
 import { emitSetStreamRates } from "../redux/slices/droneConnectionSlice"
+import { DATA_STREAM_MAP } from "../helpers/mavlinkConstants"
 
 const octokit = new Octokit({})
 
-const STREAM_MAP = {
-  MAV_DATA_STREAM_ALL: 0,
-  MAV_DATA_STREAM_RAW_SENSORS: 1,
-  MAV_DATA_STREAM_EXTENDED_STATUS: 2,
-  MAV_DATA_STREAM_RC_CHANNELS: 3,
-  MAV_DATA_STREAM_RAW_CONTROLLER: 4,
-  MAV_DATA_STREAM_POSITION: 6,
-  MAV_DATA_STREAM_EXTRA1: 10,
-  MAV_DATA_STREAM_EXTRA2: 11,
-  MAV_DATA_STREAM_EXTRA3: 12,
-}
-
 const isValidNumber = (num, range) => {
   return (
     num &&
@@ -216,7 +205,7 @@ function SetRatesRow() {
   const dispatch = useDispatch()
 
   const onClick = () => {
-    for (const [name, value] of Object.entries(STREAM_MAP)) {
+    for (const [name, value] of Object.entries(DATA_STREAM_MAP)) {
       let rate = getSetting(`Developer.${name}`)
       dispatch(emitSetStreamRates({ stream: value, rate: rate }))
     }

gcs/src/helpers/mavlinkConstants.js

@@ -536,3 +536,15 @@ export const EXCLUDE_PARAMS_LOAD = [
   "STAT_RESET",
   "STAT_RUNTIME",
 ]
+
+export const DATA_STREAM_MAP = {
+  MAV_DATA_STREAM_ALL: 0,
+  MAV_DATA_STREAM_RAW_SENSORS: 1,
+  MAV_DATA_STREAM_EXTENDED_STATUS: 2,
+  MAV_DATA_STREAM_RC_CHANNELS: 3,
+  MAV_DATA_STREAM_RAW_CONTROLLER: 4,
+  MAV_DATA_STREAM_POSITION: 6,
+  MAV_DATA_STREAM_EXTRA1: 10,
+  MAV_DATA_STREAM_EXTRA2: 11,
+  MAV_DATA_STREAM_EXTRA3: 12,
+}

radio/app/endpoints/states.py

@@ -125,5 +125,12 @@ def set_stream_rate(data: SetStreamRateType):
     if not droneStatus.drone:
         return
 
-    print("Setting data stream rate")
-    droneStatus.drone.sendDataStreamRequestMessage(data["stream"], data["rate"])
+    if (rate := data.get("rate", None)) is None:
+        return missingParameterError("set_state", "state")
+
+    if rate > 15 or rate < 0:
+        logger.error("Cannot set data stream rate outside of range [0, 15]")
+        return
+
+    logger.info(f"Setting data stream rate {data['rate']}")
+    droneStatus.drone.sendDataStreamRequestMessage(data["stream"], rate)