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UTM: Refactor Network Remote ID telemetry control based on vehicle state #12073

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royzah wants to merge 1 commit into mavlink:master from royzah:master

+48 −42

royzah commented Nov 7, 2024

Description

This PR refactors the UTMSPServiceController::networkRemoteID method to improve telemetry control logic:

Removes position-based telemetry control logic
Adds state-based control using MAV_STATE from HEARTBEAT messages
Telemetry now starts when vehicle is in MAV_STATE_ACTIVE state
Telemetry stops when vehicle transitions out of MAV_STATE_ACTIVE state
Simplifies code flow and removes unnecessary position comparisons

Test Steps

Connect vehicle to QGC
Setup UTM Network Remote ID parameters (serialNumber, operatorID, flightID)
Verify telemetry starts when vehicle enters MAV_STATE_ACTIVE
Verify telemetry continues at 3Hz while in MAV_STATE_ACTIVE
Verify telemetry stops when vehicle exits MAV_STATE_ACTIVE state
Check logs to confirm proper state transitions and telemetry behavior

Checklist:

Related Issue

N/A

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          Update vehicle state based on MAVLINK messages

1b7ff8a

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