997 feature choose message stream rates (#1133)

* - Added developer tab in settings that only appears when developer settings are turned on.
- Populated developer tab with data stream rates fields

* Added set rates row

* - Created set_stream_rate endpoint
- Added emitter to drone connection slice
- Added emitter implementation in emitter.js
- Added button to developer tab that calls emitter

* Looks nicer

* Format

* - Moved map to MAVlink constants
- Changed max data stream rate to 15
- Included logging statements and stream rate validation in backend
- Formatted

* Remove stream all

* Max as 15

* Fix bug with datastreams not getting set, fix bug with heartbeat thread not sending at 1hz

* Add note to stream rates setting

---------

Co-authored-by: Kush Makkapati <kush.makkapati@icloud.com>

Author: ProgramPhantom

gcs/data/default_settings.json

@@ -112,5 +112,95 @@
         }
       ]
     }
+  },
+  "Developer": {
+    "MAV_DATA_STREAM_RAW_SENSORS": {
+      "default": 1,
+      "type": "number",
+      "range": [
+        0,
+        15
+      ],
+      "display": "RAW_SENSORS",
+      "suffix": "Hz",
+      "group": "Data stream rates"
+    },
+    "MAV_DATA_STREAM_EXTENDED_STATUS": {
+      "default": 1,
+      "type": "number",
+      "range": [
+        0,
+        15
+      ],
+      "display": "EXTENDED_STATUS",
+      "suffix": "Hz",
+      "group": "Data stream rates"
+    },
+    "MAV_DATA_STREAM_RC_CHANNELS": {
+      "default": 1,
+      "type": "number",
+      "range": [
+        0,
+        15
+      ],
+      "display": "RC_CHANNELS",
+      "suffix": "Hz",
+      "group": "Data stream rates"
+    },
+    "MAV_DATA_STREAM_RAW_CONTROLLER": {
+      "default": 1,
+      "type": "number",
+      "range": [
+        0,
+        15
+      ],
+      "display": "RAW_CONTROLLER",
+      "suffix": "Hz",
+      "group": "Data stream rates"
+    },
+    "MAV_DATA_STREAM_POSITION": {
+      "default": 1,
+      "type": "number",
+      "range": [
+        0,
+        15
+      ],
+      "display": "POSITION",
+      "suffix": "Hz",
+      "group": "Data stream rates"
+    },
+    "MAV_DATA_STREAM_EXTRA1": {
+      "default": 4,
+      "type": "number",
+      "range": [
+        0,
+        15
+      ],
+      "display": "EXTRA1",
+      "suffix": "Hz",
+      "group": "Data stream rates"
+    },
+    "MAV_DATA_STREAM_EXTRA2": {
+      "default": 3,
+      "type": "number",
+      "range": [
+        0,
+        15
+      ],
+      "display": "EXTRA2",
+      "suffix": "Hz",
+      "group": "Data stream rates"
+    },
+    "MAV_DATA_STREAM_EXTRA3": {
+      "default": 1,
+      "type": "number",
+      "range": [
+        0,
+        15
+      ],
+      "display": "EXTRA3",
+      "suffix": "Hz",
+      "group": "Data stream rates"
+    }
   }
-}
+}

gcs/src/components/settingsModal.jsx

@@ -24,13 +24,16 @@ import {
 } from "@tabler/icons-react"
 import { Octokit } from "octokit"
 import { memo, useEffect, useState } from "react"
+import { useDispatch } from "react-redux"
 import semverGt from "semver/functions/gt"
 import DefaultSettings from "../../data/default_settings.json"
+import { DATA_STREAM_MAP } from "../helpers/mavlinkConstants"
 import {
   closeLoadingNotification,
   redColor,
   showLoadingNotification,
 } from "../helpers/notification"
+import { emitSetStreamRates } from "../redux/slices/droneConnectionSlice"
 
 const octokit = new Octokit({})
 
@@ -197,6 +200,37 @@ function ReleaseCheckRow() {
   )
 }
 
+function SetRatesRow() {
+  const { getSetting } = useSettings()
+  const dispatch = useDispatch()
+  const developerDefaults = DefaultSettings?.Developer ?? {}
+
+  const onClick = () => {
+    for (const [name, value] of Object.entries(DATA_STREAM_MAP)) {
+      if (!Object.hasOwn(developerDefaults, name)) continue
+
+      const rateSetting = getSetting(`Developer.${name}`)
+      const rate = Number(rateSetting)
+      if (!Number.isFinite(rate)) continue
+      if (rate < 0 || rate > 15) continue
+      dispatch(emitSetStreamRates({ stream: value, rate: rate }))
+    }
+  }
+
+  return (
+    <div className="mt-0! px-10">
+      <p className="text-xs text-gray-400 mb-2">
+        Note: Data stream rates here apply to the dashboard only.
+      </p>
+      <div className="flex justify-end">
+        <Button size="compact-xs" color="blue" onClick={onClick}>
+          Set rates
+        </Button>
+      </div>
+    </div>
+  )
+}
+
 function OptionSetting({ settingName, options }) {
   const { getSetting, setSetting } = useSettings()
   return (
@@ -741,6 +775,13 @@ function SettingsModal() {
         >
           <Tabs.List>
             {settingTabs.map((t) => {
+              // Only show developer tag when developer features are on
+              if (
+                !getSetting("General.experimentalDeveloperFeatures") &&
+                t === "Developer"
+              ) {
+                return <></>
+              }
               return (
                 <Tabs.Tab key={t} value={t}>
                   {t}
@@ -797,6 +838,11 @@ function SettingsModal() {
                       <ReleaseCheckRow />
                     </div>
                   )}
+                  {tab === "Developer" && (
+                    <>
+                      <SetRatesRow />
+                    </>
+                  )}
                 </Tabs.Panel>
               )
             })}

gcs/src/helpers/mavlinkConstants.js

@@ -557,3 +557,15 @@ 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,
+}

gcs/src/helpers/settingsProvider.jsx

@@ -56,10 +56,15 @@ export const SettingsProvider = ({ children }) => {
 
   const getSetting = (setting) => {
     const userSetting = getSettingFromSettings(setting, settings.settings)
+    const defaultSetting = getSettingFromSettings(setting, DefaultSettings)
 
-    return userSetting === null
-      ? getSettingFromSettings(setting, DefaultSettings).default
-      : userSetting
+    if (userSetting !== null) return userSetting
+
+    if (defaultSetting === null || defaultSetting === undefined) {
+      return null
+    }
+
+    return defaultSetting.default
   }
 
   return (

gcs/src/redux/middleware/emitters.js

@@ -39,6 +39,7 @@ import {
   emitSetCurrentFlightMode,
   emitSetLoiterRadius,
   emitSetState,
+  emitSetStreamRates,
   emitStartForwarding,
   emitStopForwarding,
   emitTakeoff,
@@ -226,6 +227,14 @@ export function handleEmitters(socket, store, action) {
           newFlightMode: action.payload.newFlightMode,
         }),
     },
+    {
+      emitter: emitSetStreamRates,
+      callback: () =>
+        socket.socket.emit("set_stream_rate", {
+          stream: action.payload.stream,
+          rate: action.payload.rate,
+        }),
+    },
 
     {
       emitter: emitStartSimulation,

gcs/src/redux/slices/droneConnectionSlice.js

@@ -205,6 +205,7 @@ const droneConnectionSlice = createSlice({
     emitTakeoff: () => {},
     emitLand: () => {},
     emitSetCurrentFlightMode: () => {},
+    emitSetStreamRates: () => {},
   },
   selectors: {
     selectConnecting: (state) => state.connecting,
@@ -285,6 +286,7 @@ export const {
   emitTakeoff,
   emitLand,
   emitSetCurrentFlightMode,
+  emitSetStreamRates,
 } = droneConnectionSlice.actions
 
 export const {

radio/app/drone.py

@@ -46,6 +46,7 @@
     mavutil.mavlink.MAV_DATA_STREAM_RAW_SENSORS: 1,
     mavutil.mavlink.MAV_DATA_STREAM_EXTENDED_STATUS: 1,
     mavutil.mavlink.MAV_DATA_STREAM_RC_CHANNELS: 1,
+    mavutil.mavlink.MAV_DATA_STREAM_RAW_CONTROLLER: 1,
     mavutil.mavlink.MAV_DATA_STREAM_POSITION: 1,
     mavutil.mavlink.MAV_DATA_STREAM_EXTRA1: 4,
     mavutil.mavlink.MAV_DATA_STREAM_EXTRA2: 3,
@@ -520,7 +521,13 @@ def setupSingleDataStream(self, stream: int) -> None:
         Args:
             stream (int): The data stream to set up
         """
-        self.sendDataStreamRequestMessage(stream, DATASTREAM_RATES[stream])
+        rate = DATASTREAM_RATES.get(stream)
+        if rate is None:
+            self.logger.warning(
+                f"No configured rate for stream {stream}; skipping setup request"
+            )
+            return
+        self.sendDataStreamRequestMessage(stream, rate)
 
     @sendingCommandLock
     def sendDataStreamRequestMessage(self, stream: int, rate: int) -> None:
@@ -888,7 +895,15 @@ def getLinkDebugData(self) -> None:
 
     def sendHeartbeatMessage(self) -> None:
         """Sends a heartbeat message to the drone every second."""
+        heartbeat_interval_secs = 1.0
+        next_heartbeat_time = time.monotonic()
+
         while self.is_active.is_set():
+            now = time.monotonic()
+            sleep_time = next_heartbeat_time - now
+            if sleep_time > 0:
+                time.sleep(sleep_time)
+
             try:
                 self.master.mav.heartbeat_send(
                     mavutil.mavlink.MAV_TYPE_GCS,
@@ -899,7 +914,11 @@ def sendHeartbeatMessage(self) -> None:
                 )
             except Exception as e:
                 self.logger.error(f"Failed to send heartbeat: {e}", exc_info=True)
-            time.sleep(1)
+
+            # Keep a stable 1Hz cadence and recover if we fall behind.
+            next_heartbeat_time += heartbeat_interval_secs
+            if next_heartbeat_time < time.monotonic():
+                next_heartbeat_time = time.monotonic() + heartbeat_interval_secs
 
     def startThread(self) -> None:
         """Starts the listener and sender threads."""