Start using node-mavlink bindings (#1158)

* Start using node-mavlink bindings

* Address copilot review comments

Author: 1Blademaster

gcs/package.json

@@ -57,6 +57,7 @@
     "mapbox-gl": "^3.0.1",
     "maplibre-gl": "^3.6.2",
     "moment": "^2.29.4",
+    "node-mavlink": "^2.3.0",
     "octokit": "^4.0.2",
     "playwright": "^1.56.0",
     "prettier": "3.2.5",

gcs/src/components/dashboard/tabsSectionTabs/missionTabsSection.jsx

@@ -8,10 +8,8 @@
 import { Button, Tabs } from "@mantine/core"
 
 // Mavlink
-import {
-  getFlightModeMap,
-  MISSION_STATES,
-} from "../../../helpers/mavlinkConstants"
+import { getFlightModeMap } from "../../../helpers/mavlinkConstants"
+import { mavlinkDef } from "../../../helpers/mavlinkDef"
 
 import { useMemo } from "react"
 import { useDispatch, useSelector } from "react-redux"
@@ -63,7 +61,7 @@ const MissionInfo = () => {
       <div className="text-lg">
         <p>
           <span className="font-bold"> Mission State:</span>{" "}
-          {MISSION_STATES[currentMission.mission_state]}
+          {mavlinkDef.MissionState[currentMission.mission_state]}
         </p>
         <p>
           <span className="font-bold"> Waypoint: </span> {currentMission.seq}/
@@ -90,7 +88,7 @@ const AutoStartRestartMission = ({ aircraftType, currentFlightModeNumber }) => {
   const autoFlightModeNumber = useMemo(() => {
     const flightModeMap = getFlightModeMap(aircraftType)
     const key = Object.keys(flightModeMap).find(
-      (key) => flightModeMap[key] === "Auto",
+      (key) => flightModeMap[key] === "AUTO",
     )
     return key !== undefined ? parseInt(key) : null
   }, [aircraftType])

gcs/src/dashboard.jsx

@@ -45,7 +45,6 @@ import { selectCurrentMission } from "./redux/slices/missionSlice"
 import { useSettings } from "./helpers/settings"
 
 // Helper javascript files
-import { GPS_FIX_TYPES } from "./helpers/mavlinkConstants"
 
 // Import components
 import ForceArmModal from "./components/dashboard/ForceArmModal"
@@ -71,6 +70,7 @@ import flightModeChangedSound from "./assets/sounds/flightmodechanged.mp3"
 import lowBatterySound from "./assets/sounds/lowbattery.mp3"
 import waypointReachedSound from "./assets/sounds/waypointreached.mp3"
 import { formatDurationSecondsToMMSS } from "./helpers/dataFormatters"
+import { GPS_FIX_TYPES } from "./helpers/mavlinkConstants.js"
 
 export default function Dashboard() {
   const dispatch = useDispatch()
@@ -92,8 +92,6 @@ export default function Dashboard() {
   const gps2 = useSelector(selectGPS2RawInt)
   const hasSecondaryGps = useSelector(selectHasSecondaryGps)
 
-  const secondaryGpsFixLabel = GPS_FIX_TYPES[gps2.fixType]
-
   // Telemetry panel sizing
   const [telemetryPanelSize, setTelemetryPanelSize] = useLocalStorage({
     key: "telemetryPanelSize",
@@ -269,7 +267,7 @@ export default function Dashboard() {
           {hasSecondaryGps && (
             <StatusSection
               icon={<IconRadar />}
-              value={secondaryGpsFixLabel}
+              value={GPS_FIX_TYPES[gps2.fixType]}
               tooltip="GPS2 fix type"
             />
           )}

gcs/src/helpers/mavlinkConstants.js

@@ -1,3 +1,12 @@
+import { mavlinkDef } from "./mavlinkDef"
+
+function enumToNumericLabelEntries(enumObj) {
+  return Object.entries(enumObj)
+    .filter(([key]) => !Number.isNaN(Number(key))) // keep "0","1",...
+    .map(([key, name]) => [Number(key), name])
+    .sort((a, b) => a[0] - b[0])
+}
+
 export const MAV_STATE = [
   "UNINIT",
   "BOOT",
@@ -10,71 +19,13 @@ export const MAV_STATE = [
   "FLIGHT TERMINATION",
 ]
 
-export const MAV_SEVERITY = [
-  "EMERGENCY",
-  "ALERT",
-  "CRITICAL",
-  "ERROR",
-  "WARNING",
-  "NOTICE",
-  "INFO",
-  "DEBUG",
-]
+export const PLANE_MODES_FLIGHT_MODE_MAP = Object.fromEntries(
+  enumToNumericLabelEntries(mavlinkDef.PlaneMode),
+)
 
-export const PLANE_MODES_FLIGHT_MODE_MAP = {
-  0: "Manual",
-  1: "CIRCLE",
-  2: "STABILIZE",
-  3: "TRAINING",
-  4: "ACRO",
-  5: "FBWA",
-  6: "FBWB",
-  7: "CRUISE",
-  8: "AUTOTUNE",
-  10: "Auto",
-  11: "RTL",
-  12: "Loiter",
-  13: "TAKEOFF",
-  14: "AVOID_ADSB",
-  15: "Guided",
-  17: "QSTABILIZE",
-  18: "QHOVER",
-  19: "QLOITER",
-  20: "QLAND",
-  21: "QRTL",
-  22: "QAUTOTUNE",
-  23: "QACRO",
-  24: "THERMAL",
-  25: "Loiter to QLand",
-}
-
-export const COPTER_MODES_FLIGHT_MODE_MAP = {
-  0: "Stabilize",
-  1: "Acro",
-  2: "AltHold",
-  3: "Auto",
-  4: "Guided",
-  5: "Loiter",
-  6: "RTL",
-  7: "Circle",
-  9: "Land",
-  11: "Drift",
-  13: "Sport",
-  14: "Flip",
-  15: "AutoTune",
-  16: "PosHold",
-  17: "Brake",
-  18: "Throw",
-  19: "Avoid_ADSB",
-  20: "Guided_NoGPS",
-  21: "Smart_RTL",
-  22: "FlowHold",
-  23: "Follow",
-  24: "ZigZag",
-  25: "SystemID",
-  26: "Heli_Autorotate",
-  27: "UNKNOWN",
-}
+export const COPTER_MODES_FLIGHT_MODE_MAP = Object.fromEntries(
+  enumToNumericLabelEntries(mavlinkDef.CopterMode),
+)
 
 export function getFlightModeMap(aircraftType) {
   if (aircraftType === "Plane") {
@@ -85,19 +36,15 @@ export function getFlightModeMap(aircraftType) {
   return {}
 }
 
-export const GPS_FIX_TYPES = [
-  "NO GPS",
-  "NO FIX",
-  "2D FIX",
-  "3D FIX",
-  "DGPS",
-  "RTK FLOAT",
-  "RTK FIXED",
-  "STATIC",
-  "PPP",
-]
+function formatGpsFixLabel(name) {
+  return name
+    .replace(/^GPS_FIX_TYPE_/, "") // remove prefix
+    .replace(/_/g, " ") // underscores -> spaces
+}
 
-export const MAV_AUTOPILOT_INVALID = 8
+export const GPS_FIX_TYPES = enumToNumericLabelEntries(
+  mavlinkDef.GpsFixType,
+).map(([, name]) => formatGpsFixLabel(name))
 
 export const FRAME_TYPE_MAP_QUAD = {
   0: {
@@ -314,15 +261,6 @@ export const MOTOR_LETTER_LABELS = [
   "L",
 ]
 
-export const MISSION_STATES = {
-  0: "UNKNOWN",
-  1: "NO MISSION",
-  2: "NOT STARTED",
-  3: "ACTIVE",
-  4: "PAUSED",
-  5: "COMPLETED",
-}
-
 // List of mission item commands to not display on the map
 // due to lack of GPS coordinates
 export const FILTER_MISSION_ITEM_COMMANDS_LIST = {
@@ -460,24 +398,7 @@ export const FENCE_ITEM_COMMANDS_LIST = {
   5004: "MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION",
 }
 
-export const MAV_FRAME_LIST = {
-  0: "MAV_FRAME_GLOBAL",
-  1: "MAV_FRAME_LOCAL_NED",
-  2: "MAV_FRAME_MISSION",
-  3: "MAV_FRAME_GLOBAL_RELATIVE_ALT",
-  4: "MAV_FRAME_LOCAL_ENU",
-  5: "MAV_FRAME_GLOBAL_INT",
-  6: "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",
-  7: "MAV_FRAME_LOCAL_OFFSET_NED",
-  8: "MAV_FRAME_BODY_NED",
-  9: "MAV_FRAME_BODY_OFFSET_NED",
-  10: "MAV_FRAME_GLOBAL_TERRAIN_ALT",
-  11: "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",
-  12: "MAV_FRAME_BODY_FRD",
-  21: "MAV_FRAME_LOCAL_FRD",
-  22: "MAV_FRAME_LOCAL_FLU",
-  23: "MAV_FRAME_ENUM_END",
-}
+export const MAV_FRAME_LIST = mavlinkDef.MavFrame
 
 function getPositionFrameValue(frameName) {
   return Object.keys(MAV_FRAME_LIST).find(
@@ -500,20 +421,9 @@ function getFrameDropdownData() {
 
 export const MAV_FRAME_DROPDOWN_DATA = getFrameDropdownData()
 
-export const EKF_STATUS_FLAGS = {
-  1: "EKF_ATTITUDE",
-  2: "EKF_VELOCITY_HORIZ",
-  4: "EKF_VELOCITY_VERT",
-  8: "EKF_POS_HORIZ_REL",
-  16: "EKF_POS_HORIZ_ABS",
-  32: "EKF_POS_VERT_ABS",
-  64: "EKF_POS_VERT_AGL",
-  128: "EKF_CONST_POS_MODE",
-  256: "EKF_PRED_POS_HORIZ_REL",
-  512: "EKF_PRED_POS_HORIZ_ABS",
-  1024: "EKF_UNINITIALIZED",
-  32768: "EKF_GPS_GLITCHING",
-}
+export const EKF_STATUS_FLAGS = Object.fromEntries(
+  enumToNumericLabelEntries(mavlinkDef.EkfStatusFlags),
+)
 
 export function getActiveEKFFlags(statusValue) {
   const activeFlags = []

gcs/src/helpers/mavlinkDef.js

@@ -0,0 +1,13 @@
+import * as ardupilotmega from "mavlink-mappings/dist/lib/ardupilotmega"
+import * as common from "mavlink-mappings/dist/lib/common"
+import * as minimal from "mavlink-mappings/dist/lib/minimal"
+import * as standard from "mavlink-mappings/dist/lib/standard"
+import * as uavionix from "mavlink-mappings/dist/lib/uavionix"
+
+export const mavlinkDef = {
+  ...minimal,
+  ...common,
+  ...standard,
+  ...ardupilotmega,
+  ...uavionix,
+}

gcs/src/redux/slices/droneInfoSlice.js

@@ -7,8 +7,7 @@ import {
   getFlightModeMap,
   MAV_STATE,
 } from "../../helpers/mavlinkConstants"
-
-const MAV_SYS_STATUS_PREARM_CHECK = 268435456
+import { mavlinkDef } from "../../helpers/mavlinkDef"
 
 // TODO: Make this configurable in the future?
 const GPS_TRACK_MAX_LENGTH = 300
@@ -136,14 +135,14 @@ const droneInfoSlice = createSlice({
     },
     setHeartbeatData: (state, action) => {
       if (
-        action.payload.base_mode & 128 &&
-        !(state.heartbeatData.baseMode & 128)
+        action.payload.base_mode & mavlinkDef.MavModeFlag["SAFETY_ARMED"] &&
+        !(state.heartbeatData.baseMode & mavlinkDef.MavModeFlag["SAFETY_ARMED"])
       ) {
         state.isArmed = true
         state.notificationSound = "armed"
       } else if (
-        !(action.payload.base_mode & 128) &&
-        state.heartbeatData.baseMode & 128
+        !(action.payload.base_mode & mavlinkDef.MavModeFlag["SAFETY_ARMED"]) &&
+        state.heartbeatData.baseMode & mavlinkDef.MavModeFlag["SAFETY_ARMED"]
       ) {
         state.isArmed = false
         state.isFlying = false
@@ -213,13 +212,6 @@ const droneInfoSlice = createSlice({
             : [],
         },
       }
-
-      console.log("ESC REDUX", {
-        timestamp: action.payload.timestamp,
-        rpm: action.payload.rpm,
-        current: action.payload.current,
-        temperature: action.payload.temperature,
-      })
     },
     setTelemetryData: (state, action) => {
       state.telemetryData = {
@@ -344,16 +336,16 @@ const droneInfoSlice = createSlice({
       // Check EKF flags to handle critical errors
       // https://github.com/ArduPilot/MissionPlanner/blob/4d441bd4b1dbc08adce4d8b26e078e93760da3a7/ExtLibs/ArduPilot/CurrentState.cs#L2674-L2736
       const activeFlags = getActiveEKFFlags(state.ekfStatusReportData.flags)
-      if (!activeFlags.includes("EKF_ATTITUDE")) {
+      if (!activeFlags.includes("ATTITUDE")) {
         // If we have no attitude solution
         state.ekfCalculatedStatus = 1
-      } else if (!activeFlags.includes("EKF_VELOCITY_HORIZ")) {
+      } else if (!activeFlags.includes("VELOCITY_HORIZ")) {
         // If we have GPS but no horizontal velocity solution
         const gpsStatus = state.gpsRawIntData.fixType
         if (gpsStatus > 0) {
           state.ekfCalculatedStatus = 1
         }
-      } else if (activeFlags.includes("EKF_UNINITIALIZED")) {
+      } else if (activeFlags.includes("UNINITIALIZED")) {
         // EKF not initialized at all
         state.ekfCalculatedStatus = 1
       }
@@ -396,10 +388,12 @@ const droneInfoSlice = createSlice({
     selectSystemStatus: (state) => MAV_STATE[state.heartbeatData.systemStatus],
     selectReadyToArm: (state) => {
       const isEnabled = !!(
-        state.onboardControlSensorsEnabled & MAV_SYS_STATUS_PREARM_CHECK
+        state.onboardControlSensorsEnabled &
+        mavlinkDef.MavSysStatusSensor.PREARM_CHECK
       )
       const isHealthy = !!(
-        state.onboardControlSensorsHealth & MAV_SYS_STATUS_PREARM_CHECK
+        state.onboardControlSensorsHealth &
+        mavlinkDef.MavSysStatusSensor.PREARM_CHECK
       )
 
       // If pre-arm check is enabled, it must also be healthy
@@ -546,7 +540,6 @@ export const selectAircraftTypeString = createSelector(
 export const selectFlightModeString = createSelector(
   [droneInfoSlice.selectors.selectFlightMode, selectAircraftTypeString],
   (flightMode, aircraftType) => {
-    //TODO: aircraftType should be in local storage apparently (for some reason?)
     const flightModeMap = getFlightModeMap(aircraftType)
     return flightModeMap[flightMode] || "UNKNOWN"
   },