Allow choosing the SITL frame in the frontend

core/frontend/src/components/autopilot/AutopilotManagerUpdater.ts

@@ -4,7 +4,7 @@ import { SemVer } from 'semver'
 import Notifier from '@/libs/notifier'
 import autopilot_data from '@/store/autopilot'
 import autopilot from '@/store/autopilot_manager'
-import { Firmware, Vehicle } from '@/types/autopilot'
+import { Firmware, SITLFrame, Vehicle } from '@/types/autopilot'
 import { Dictionary } from '@/types/common'
 import { autopilot_service } from '@/types/frontend_services'
 import back_axios from '@/utils/api'
@@ -114,6 +114,20 @@ export async function fetchFirmwareVehicleType(): Promise<void> {
   }
 }
 
+export async function fetchSitlFrame(): Promise<void> {
+  try {
+    const response: AxiosResponse = await back_axios({
+      method: 'get',
+      url: `${autopilot.API_URL}/sitl_frame`,
+      timeout: 10000,
+    })
+    autopilot.setSitlFrame(response.data as SITLFrame)
+  } catch (error) {
+    autopilot.setSitlFrame(null)
+    notifier.pushBackError('AUTOPILOT_SITL_FRAME_FETCH_FAIL', error)
+  }
+}
+
 export async function availableFirmwares(vehicleType: Vehicle): Promise<Firmware[]> {
   return back_axios({
     method: 'get',

core/frontend/src/components/autopilot/SitlConfiguration.vue

@@ -0,0 +1,100 @@
+<template>
+  <v-card
+    elevation="0"
+    class="pa-2"
+  >
+    <v-select
+      :value="autopilot.sitl_frame"
+      :items="sitl_frame_options"
+      :disabled="autopilot.restarting || setting"
+      :loading="autopilot.restarting || setting"
+      label="SITL frame"
+      class="ma-1 pa-0"
+      @change="changeSitlFrame"
+    />
+    <v-snackbar
+      v-model="show_success"
+      color="success"
+      timeout="3000"
+    >
+      SITL frame set, autopilot restarted
+      <template #action="{ attrs }">
+        <v-btn
+          text
+          v-bind="attrs"
+          @click="show_success = false"
+        >
+          Close
+        </v-btn>
+      </template>
+    </v-snackbar>
+  </v-card>
+</template>
+
+<script lang="ts">
+import Vue from 'vue'
+
+import { fetchSitlFrame, restart } from '@/components/autopilot/AutopilotManagerUpdater'
+import Notifier from '@/libs/notifier'
+import { OneMoreTime } from '@/one-more-time'
+import autopilot from '@/store/autopilot_manager'
+import { SITLFrame } from '@/types/autopilot'
+import { autopilot_service } from '@/types/frontend_services'
+import back_axios from '@/utils/api'
+
+const notifier = new Notifier(autopilot_service)
+
+export default Vue.extend({
+  name: 'SitlConfiguration',
+  data() {
+    return {
+      autopilot,
+      fetch_sitl_frame_task: new OneMoreTime({ delay: 5000, disposeWith: this }),
+      setting: false,
+      show_success: false,
+    }
+  },
+  computed: {
+    sitl_frame_options(): {value: SITLFrame, text: string}[] {
+      return Object.values(SITLFrame)
+        .filter((frame) => frame !== SITLFrame.UNDEFINED)
+        .map((frame) => ({ value: frame, text: frame }))
+        .sort((a, b) => a.text.localeCompare(b.text))
+    },
+  },
+  mounted() {
+    this.fetch_sitl_frame_task.setAction(fetchSitlFrame)
+  },
+  beforeDestroy() {
+    autopilot.setSitlFrame(null)
+  },
+  methods: {
+    async changeSitlFrame(frame: SITLFrame): Promise<void> {
+      this.setting = true
+      try {
+        await back_axios({
+          method: 'post',
+          url: `${autopilot.API_URL}/sitl_frame`,
+          params: { frame },
+          timeout: 10000,
+        })
+      } catch (error) {
+        notifier.pushBackError('AUTOPILOT_SITL_FRAME_SET_FAIL', error)
+        return
+      } finally {
+        this.setting = false
+      }
+
+      // The new frame is only picked up at SITL launch, so restart so it takes effect.
+      // The next fetchSitlFrame poll will update the store once SITL is back up.
+      // restart() pushes its own error notification on failure.
+      try {
+        await restart()
+        this.show_success = true
+      } catch {
+        // already surfaced by restart()
+      }
+    },
+  },
+})
+</script>

core/frontend/src/store/autopilot_manager.ts

@@ -5,7 +5,7 @@ import {
 import store from '@/store'
 import {
   AutopilotEndpoint, FirmwareInfo, FirmwareVehicleType,
-  FlightController, SerialEndpoint,
+  FlightController, SerialEndpoint, SITLFrame,
 } from '@/types/autopilot'
 
 @Module({
@@ -29,6 +29,8 @@ class AutopilotManagerStore extends VuexModule {
 
   firmware_vehicle_type: FirmwareVehicleType | null = null
 
+  sitl_frame: SITLFrame | null = null
+
   updating_endpoints = true
 
   updating_boards = true
@@ -72,6 +74,13 @@ class AutopilotManagerStore extends VuexModule {
     this.firmware_vehicle_type = firmware_vehicle_type
   }
 
+  @Mutation
+  setSitlFrame(sitl_frame: SITLFrame | null): void {
+    // UNDEFINED means "no frame selected" — collapse it to null so consumers
+    // (e.g. the SITL <v-select>) have a single sentinel to handle.
+    this.sitl_frame = sitl_frame === SITLFrame.UNDEFINED ? null : sitl_frame
+  }
+
   @Mutation
   setAvailableEndpoints(available_endpoints: AutopilotEndpoint[]): void {
     this.available_endpoints = available_endpoints

core/frontend/src/types/autopilot.ts

@@ -30,6 +30,62 @@ export enum Platform {
   SITL_ARM = 'SITL_arm_linux_gnueabihf',
 }
 
+// Mirrors the SITLFrame enum from
+// core/services/ardupilot_manager/typedefs.py
+export enum SITLFrame {
+  QUADPLANE = 'quadplane',
+  XPLANE = 'xplane',
+  FIREFLY = 'firefly',
+  PLUS_CONFIG = '+',
+  QUAD = 'quad',
+  COPTER = 'copter',
+  X_CONFIG = 'x',
+  BFXREV = 'bfxrev',
+  BFX = 'bfx',
+  DJIX = 'djix',
+  CWX = 'cwx',
+  HEXA = 'hexa',
+  HEXA_CWX = 'hexa-cwx',
+  HEXA_DJI = 'hexa-dji',
+  OCTA = 'octa',
+  OCTA_CWX = 'octa-cwx',
+  OCTA_DJI = 'octa-dji',
+  OCTA_QUAD_CWX = 'octa-quad-cwx',
+  DODECA_HEXA = 'dodeca-hexa',
+  TRI = 'tri',
+  Y_SIX = 'y6',
+  HELI = 'heli',
+  HELI_DUAL = 'heli-dual',
+  HELI_COMPOUND = 'heli-compound',
+  SINGLECOPTER = 'singlecopter',
+  COAXCOPTER = 'coaxcopter',
+  ROVER = 'rover',
+  ROVER_SKID = 'rover-skid',
+  ROVER_VECTORED = 'rover-vectored',
+  BALANCEBOT = 'balancebot',
+  SAILBOAT = 'sailboat',
+  MOTORBOAT = 'motorboat',
+  MOTORBOAT_SKID = 'motorboat-skid',
+  CRRCSIM = 'crrcsim',
+  JSBSIM = 'jsbsim',
+  FLIGHTAXIS = 'flightaxis',
+  GAZEBO = 'gazebo',
+  LAST_LETTER = 'last_letter',
+  TRACKER = 'tracker',
+  BALLOON = 'balloon',
+  PLANE = 'plane',
+  CALIBRATION = 'calibration',
+  VECTORED = 'vectored',
+  VECTORED_6DOF = 'vectored_6dof',
+  SILENTWINGS = 'silentwings',
+  MORSE = 'morse',
+  AIRSIM = 'airsim',
+  SCRIMMAGE = 'scrimmage',
+  WEBOTS = 'webots',
+  JSON = 'JSON',
+  UNDEFINED = 'undefined',
+}
+
 export enum EndpointType {
     udpin = 'udpin',
     udpout = 'udpout',

core/frontend/src/views/Autopilot.vue

@@ -64,6 +64,16 @@
             </v-expansion-panel-content>
           </v-expansion-panel>
         </v-expansion-panels>
+        <v-expansion-panels v-if="is_sitl">
+          <v-expansion-panel>
+            <v-expansion-panel-header>
+              SITL configuration
+            </v-expansion-panel-header>
+            <v-expansion-panel-content>
+              <sitl-configuration />
+            </v-expansion-panel-content>
+          </v-expansion-panel>
+        </v-expansion-panels>
         <v-expansion-panels v-if="settings.is_pirate_mode && isLinuxFlightController">
           <v-expansion-panel>
             <v-expansion-panel-header>
@@ -139,6 +149,7 @@ import AutopilotSerialConfiguration from '@/components/autopilot/AutopilotSerial
 import BoardChangeDialog from '@/components/autopilot/BoardChangeDialog.vue'
 import FirmwareManager from '@/components/autopilot/FirmwareManager.vue'
 import MasterEndpointManager from '@/components/autopilot/MasterEndpointManager.vue'
+import SitlConfiguration from '@/components/autopilot/SitlConfiguration.vue'
 import NotSafeOverlay from '@/components/common/NotSafeOverlay.vue'
 import { MavAutopilot } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
 import Notifier from '@/libs/notifier'
@@ -161,6 +172,7 @@ export default Vue.extend({
     AutopilotSerialConfiguration,
     NotSafeOverlay,
     MasterEndpointManager,
+    SitlConfiguration,
   },
   data() {
     return {
@@ -221,6 +233,9 @@ export default Vue.extend({
     is_external_board(): boolean {
       return autopilot.current_board?.name === 'Manual'
     },
+    is_sitl(): boolean {
+      return autopilot.current_board?.name === 'SITL'
+    },
     current_board(): FlightController | null {
       return autopilot.current_board
     },

core/services/ardupilot_manager/api/v1/routers/index.py

@@ -136,6 +136,12 @@ async def set_sitl_frame(frame: SITLFrame) -> Any:
     return autopilot.set_sitl_frame(frame)
 
 
+@index_router_v1.get("/sitl_frame", response_model=SITLFrame, summary="Get current SITL Frame type.")
+@index_to_http_exception
+async def get_sitl_frame() -> Any:
+    return autopilot.current_sitl_frame
+
+
 @index_router_v1.get("/firmware_vehicle_type", response_model=str, summary="Get firmware vehicle type.")
 @index_to_http_exception
 async def get_firmware_vehicle_type() -> Any: