- 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

Author: ProgramPhantom

gcs/data/default_settings.json

@@ -115,99 +115,99 @@
   },
   "Developer": {
     "MAV_DATA_STREAM_ALL": {
-      "default": 5,
+      "default": 1,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_ALL",
       "suffix": "Hz",
       "group": "Data stream rates"
     },
     "MAV_DATA_STREAM_RAW_SENSORS": {
-      "default": 5,
+      "default": 1,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_RAW_SENSORS",
       "suffix": "Hz",
       "group": "Data stream rates"
     },
     "MAV_DATA_STREAM_EXTENDED_STATUS": {
-      "default": 5,
+      "default": 1,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_EXTENDED_STATUS",
       "suffix": "Hz",
       "group": "Data stream rates"
     },
     "MAV_DATA_STREAM_RC_CHANNELS": {
-      "default": 5,
+      "default": 1,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_RC_CHANNELS",
       "suffix": "Hz",
       "group": "Data stream rates"
     },
     "MAV_DATA_STREAM_RAW_CONTROLLER": {
-      "default": 5,
+      "default": 1,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_RAW_CONTROLLER",
       "suffix": "Hz",
       "group": "Data stream rates"
     },
     "MAV_DATA_STREAM_POSITION": {
-      "default": 5,
+      "default": 1,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_POSITION",
       "suffix": "Hz",
       "group": "Data stream rates"
     },
     "MAV_DATA_STREAM_EXTRA1": {
-      "default": 5,
+      "default": 4,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_EXTRA1",
       "suffix": "Hz",
       "group": "Data stream rates"
     },
     "MAV_DATA_STREAM_EXTRA2": {
-      "default": 5,
+      "default": 3,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_EXTRA2",
       "suffix": "Hz",
       "group": "Data stream rates"
     },
     "MAV_DATA_STREAM_EXTRA3": {
-      "default": 5,
+      "default": 1,
       "type": "number",
       "range": [
         0,
-        100000
+        150
       ],
       "display": "MAV_DATA_STREAM_EXTRA3",
       "suffix": "Hz",

gcs/src/components/settingsModal.jsx

@@ -31,9 +31,23 @@ import {
   redColor,
   showLoadingNotification,
 } from "../helpers/notification"
+import { useDispatch } from "react-redux"
+import { emitSetStreamRates } from "../redux/slices/droneConnectionSlice"
 
 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 &&
@@ -199,7 +213,7 @@ function ReleaseCheckRow() {
 
 function SetRatesRow() {
   const { getSetting } = useSettings()
-
+  const dispatch = useDispatch()
 
   const onClick = () => {
     const MAV_DATA_STREAM_ALL = getSetting("Developer.MAV_DATA_STREAM_ALL")
@@ -212,7 +226,11 @@ function SetRatesRow() {
     const MAV_DATA_STREAM_EXTRA2 = getSetting("Developer.MAV_DATA_STREAM_EXTRA2")
     const MAV_DATA_STREAM_EXTRA3 = getSetting("Developer.MAV_DATA_STREAM_EXTRA3")
 
-    console.log(MAV_DATA_STREAM_ALL)
+
+    for (const [name, value] of Object.entries(STREAM_MAP)) {
+      let rate = getSetting(`Developer.${name}`)
+      dispatch(emitSetStreamRates({stream: value, rate: rate}))
+    }
   }
 
   return (

gcs/src/redux/middleware/emitters.js

@@ -37,6 +37,7 @@ import {
   emitSetCurrentFlightMode,
   emitSetLoiterRadius,
   emitSetState,
+  emitSetStreamRates,
   emitStartForwarding,
   emitStopForwarding,
   emitTakeoff,
@@ -210,6 +211,14 @@ 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

@@ -188,6 +188,7 @@ const droneConnectionSlice = createSlice({
     emitTakeoff: () => {},
     emitLand: () => {},
     emitSetCurrentFlightMode: () => {},
+    emitSetStreamRates: () => {}
   },
   selectors: {
     selectConnecting: (state) => state.connecting,
@@ -263,6 +264,7 @@ export const {
   emitTakeoff,
   emitLand,
   emitSetCurrentFlightMode,
+  emitSetStreamRates
 } = droneConnectionSlice.actions
 export const {
   selectConnecting,

radio/app/endpoints/states.py

@@ -13,6 +13,11 @@ class SetStateType(TypedDict):
     state: str
 
 
+class SetStreamRateType(TypedDict):
+    stream: int
+    rate: int
+
+
 GLOBAL_MESSAGE_LISTENERS = ["HEARTBEAT", "STATUSTEXT", "GLOBAL_POSITION_INT", "VFR_HUD"]
 
 STATES_MESSAGE_LISTENERS = {
@@ -113,3 +118,12 @@ def set_state(data: SetStateType) -> None:
 
         for message in STATES_MESSAGE_LISTENERS["config.servo"]:
             droneStatus.drone.addMessageListener(message, sendMessage)
+
+
+@socketio.on("set_stream_rate")
+def set_stream_rate(data: SetStreamRateType):
+    if not droneStatus.drone:
+        return
+
+    print("Setting data stream rate")
+    droneStatus.drone.sendDataStreamRequestMessage(data["stream"], data["rate"])