add flight mode display

deployments/broach-docker-compose.yml

@@ -7,19 +7,19 @@ services:
     #ports:
     #  - 5000:5000
     environment:
-      - OBC_ADDR=localhost:5010
+      - OBC_ADDR=192.168.1.51:5010
       - ANTENNA_TRACKER_IP=192.168.1.36
       - ANTENNA_TRACKER_PORT=4000
       - MAV_DEVICE=serial:/dev/ttyUSB0
-      - MAV_OUTPUT1=udp:192.168.1.2:14551
+      - MAV_OUTPUT1=udp:192.168.1.3:14551
       - MAV_OUTPUT2=udp:192.168.1.7:14551
       - MAV_OUTPUT3="tcp:localhost:14551"
       - MAV_OUTPUT4=""
       - MAV_OUTPUT5=""
       - INFLUXDB_BUCKET=mavlink
       - INFLUXDB_ORG=TritonUAS
       - INFLUXDB_TOKEN=influxdbToken
-      - INFLUXDB_URI=http://influxdb:8086
+      - INFLUXDB_URI=http://localhost:8086
       - HUB_PATH=/go/src/github.com/tritonuas/gcs
     volumes:
       - missions:/go/src/github.com/tritonuas/gcs/missions
@@ -31,12 +31,14 @@ services:
 
   influxdb:
     image: influxdb:2.0-alpine
+    network_mode: "host"
     ports:
       - 8086:8086
     volumes:
       - influxdb_data:/var/lib/influxdb
   grafana:
     image: grafana/grafana:7.5.5
+    network_mode: "host"
     ports:
       - 3000:3000
     environment: 
@@ -57,14 +59,15 @@ services:
     depends_on:
       - influxdb
     image: influxdb:2.0-alpine
+    network_mode: "host"
     entrypoint: > 
       influx setup 
       --bucket mavlink 
       --org TritonUAS 
       --token influxdbToken 
       --username tritons 
       --password tritonuas 
-      --host http://influxdb:8086 
+      --host http://localhost:8086 
       --force
     restart: on-failure:20
   dozzle:

deployments/docker-compose.yml

@@ -11,7 +11,8 @@ services:
       - OUT1=--out=tcpin:127.0.0.1:14552
       # gcs
       - OUT2=--out=tcpin:127.0.0.1:14551
-      - OUT3=
+      # qgroundcontrol
+      - OUT3=--out=tcpin:127.0.0.1:14553
       - OUT4=
       - OUT5=
       - OUT6=
@@ -87,15 +88,30 @@ services:
       --force
     restart: on-failure:20
   sitl:
-    image: tritonuas/plane.rascal
+    image: radarku/ardupilot-sitl
     network_mode: "host"
+    # platform: linux/amd64
+    tty: true
     # ports:
     #   - 5760:5760
     environment:
-      - "SITL_HOME=38.31542593549111,-76.55062632801757,8,0"
-      - SITL_SPEEDUP=1
-    volumes:
-      - sitl:/app/logs
+      - VEHICLE=ArduPlane
+      - MODEL=quadplane
+      - LAT=38.31542593549111
+      - LON=-76.55062632801757
+      - ALT=8
+      - DIR=180
+      - SPEEDUP=2
+  # sitl:
+  #   image: tritonuas/plane.rascal
+  #   network_mode: "host"
+  #   # ports:
+  #   #   - 5760:5760
+  #   environment:
+  #     - "SITL_HOME=38.31542593549111,-76.55062632801757,8,0"
+  #     - SITL_SPEEDUP=1
+  #   volumes:
+  #     - sitl:/app/logs
   dozzle:
     container_name: dozzle
     image: amir20/dozzle:latest
@@ -106,5 +122,5 @@ services:
 volumes:
   grafana_data:
   missions:
-  sitl:
+  # sitl:
   influxdb_data:

houston/src/pages/Control.tsx

@@ -227,7 +227,6 @@ function Control({settings, planeCoordinates}:{settings: SettingsConfig, planeCo
         FEET_TO_METERS(settings.minAltitudeAGL_feet) + FEET_TO_METERS(settings.groundAltitude_feet),
         FEET_TO_METERS(settings.maxAltitudeAGL_feet) + FEET_TO_METERS(settings.groundAltitude_feet),
     ];
-    console.log(altitudeMSLThreshold);
 
     const motorBatteryThreshold: Threshold = [
         settings.minVoltsPerCell,
@@ -279,6 +278,8 @@ function Control({settings, planeCoordinates}:{settings: SettingsConfig, planeCo
 
     const [superSecret, setSuperSecret] = useState(false);
 
+    const [flightMode, setFlightMode] = useState("???");
+
     useEffect(() => {
         const interval = setInterval(() => pullTelemetry(
             settings,
@@ -290,15 +291,15 @@ function Control({settings, planeCoordinates}:{settings: SettingsConfig, planeCo
             setMotorBattery,
             setPixhawkBattery,
             setESCtemperature,
-            setSuperSecret
+            setSuperSecret,
+            setFlightMode
         ), 1000);
 
         return () => {
             clearInterval(interval);
         }
     }, [settings]);
 
-    const flightMode = '';
     const flightModeColor = { backgroundColor: 'var(--warning-text)' };
 
     const handleClick = (setter: Dispatch<SetStateAction<Parameter>>) => {

houston/src/pages/Drop.tsx

@@ -1,13 +1,14 @@
 import { ChangeEvent, useState } from "react"
 import { BottleDropIndex, BottleSwap } from "../protos/obc.pb";
-
+import video from "../assets/IAMTHEANGRYPUMPKIN.mp4"
 
 /**
  * Page that lets the user perform a manual drop
  * @returns manual drop page
  */
 function Drop() {
     const [bottle, setBottle] = useState<BottleDropIndex>(BottleDropIndex.A);
+    const [playing, setPlaying] = useState<boolean>(false);
 
     const handleChange = (event: ChangeEvent<HTMLInputElement>) => {
         const value = event.target.value;
@@ -37,13 +38,21 @@ function Drop() {
         const body = {
             index: bottle
         } as BottleSwap;
+
+        const video = document.getElementById('pumpkin') as HTMLVideoElement;
+        video.play();
+        setPlaying(true);
 
         fetch("/api/plane/dodropnow", {
             method: "POST",
             body: JSON.stringify(body)
         })
             .then(resp => resp.text())
-            .then(resp => alert(resp))
+            .then(resp => {
+                console.log(resp)
+                video.play();
+                setPlaying(true);
+            })
     }
 
     return(
@@ -53,9 +62,10 @@ function Drop() {
                 <input type="number" onChange={handleChange} value={bottle} />
                 <input type="button" value={`Drop Bottle ${bottle}`} onClick={handleDropClick}/>
             </form>
+            <video src={video} id="pumpkin" style={{display: (!playing) ? "none" : ""}}></video>
         </>
 
     );
 }
 
-export default Drop;
+export default Drop;

houston/src/pages/Input.tsx

@@ -112,7 +112,6 @@ function FormTable(
                                                 setMapData(mapData => {
                                                     if (data !== undefined) {
                                                         const temp = (data.slice(0, i).concat(data.slice(i+1)));
-                                                        console.log(temp);
                                                         return new Map(mapData.set(mapMode, temp));
                                                     } else {
                                                         return mapData; // should never happen
@@ -547,8 +546,6 @@ function Input() {
             Waypoints: mapDataToGpsCoords(MapMode.Waypoint),
         };
 
-        console.log(mission);
-
         fetch("/api/mission", {
             method: "POST",
             headers: {

houston/src/utilities/pull_telemetry.ts

@@ -15,6 +15,7 @@ import { SettingsConfig } from "./settings";
  * @param setPixhawkBatteryVal state setter
  * @param setESCtemperatureVal state setter
  * @param setSuperSecret state setter
+ * @param setFlightMode state setter
  */
 export function pullTelemetry(
     settings: SettingsConfig,
@@ -27,6 +28,7 @@ export function pullTelemetry(
     setPixhawkBatteryVal: Dispatch<SetStateAction<Parameter>>,
     setESCtemperatureVal: Dispatch<SetStateAction<Parameter>>,
     setSuperSecret: Dispatch<SetStateAction<boolean>>,
+    setFlightMode: Dispatch<SetStateAction<string>>,
 ) {
     fetch('/api/plane/telemetry?id=74&field=groundspeed,airspeed,heading')
         .then(resp => resp.json())
@@ -67,6 +69,47 @@ export function pullTelemetry(
         .catch(_ => {
             setESCtemperatureVal(param => param.getErrorValue());
         })
+    fetch('/api/plane/telemetry?id=0')
+        .then(resp => resp.json())
+        .then(json => {
+            // some respectable individual can come in later on and refactor this into
+            // its own function if they so desire...
+            // reference: https://mavlink.io/en/messages/common.html#MAV_MODE_FLAG
+            const SAFETY_ARMED: number = 128;
+            const MANUAL_INPUT_ENABLED: number = 64;
+            const HIL_ENABLED: number = 32;
+            const STABILIZE_ENABLED: number = 16;
+            const GUIDED_ENABLED: number = 8;
+            const AUTO_ENABLED: number = 4;
+            // MAV_MODE_FLAG_TEST_ENABLED = 2
+            // MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
+
+            const base_mode = Number(json["base_mode"])
+            if ((base_mode & SAFETY_ARMED) != SAFETY_ARMED) {
+                setFlightMode("Unarmed");
+            } else {
+                // we know the system is armed
+
+                // i dont really know how all of these options combine together.
+                // i.e. is stablize / HIL also on while we are in auto?
+                // so i have ordered them from in an order I feel makes sense, reporting
+                // the most important bits first (manual, auto) then the other ones
+                // im less sure about how they will be set exactly
+                if ((base_mode & MANUAL_INPUT_ENABLED) == MANUAL_INPUT_ENABLED) {
+                    setFlightMode("Manual");
+                } else if ((base_mode & AUTO_ENABLED) == AUTO_ENABLED) {
+                    setFlightMode("Auto");
+                } else if ((base_mode & STABILIZE_ENABLED) == STABILIZE_ENABLED) {
+                    setFlightMode("Stablize");
+                } else if ((base_mode & HIL_ENABLED) == HIL_ENABLED) {
+                    setFlightMode("HIL");
+                } else if ((base_mode & GUIDED_ENABLED) == GUIDED_ENABLED) {
+                    setFlightMode("Guided"); // i think this will always be on if we are in auto?
+                } else {
+                    setFlightMode("Armed"); // idk if this ever actually happens
+                }
+            }
+        })
     fetch('/api/plane/voltage')
         .then(resp => resp.json())
         .then(json => {

internal/mavlink/eventframe_handlers.go

@@ -103,7 +103,7 @@ func (c *Client) writeMsgToInfluxDB(evt *gomavlib.EventFrame, node *gomavlib.Nod
 
 		data["type"] = msg.Type
 		data["autopilot"] = msg.Autopilot
-		data["base_mode"] = msg.BaseMode
+		data["base_mode"] = (uint32)(msg.BaseMode)
 		data["custom_mode"] = msg.CustomMode
 		data["system_status"] = msg.SystemStatus
 		data["mavlink_version"] = msg.MavlinkVersion