mirror of
https://github.com/azaion/autopilot.git
synced 2026-06-21 08:31:10 +00:00
Oleksandr Bezdieniezhnykh
e56d428753
AZ-649 mission_executor telemetry forwarding: - shared::models::telemetry::UavTelemetry canonical model - TelemetryForwarder with atomic ArcSwap snapshot + 3 lossy tokio::sync::broadcast channels (MissionExecutor, ScanController, MavlinkUplink) + per-consumer drop counters - MavlinkProjection::from_mavlink for HEARTBEAT/GLOBAL_POSITION_INT/ ATTITUDE/SYS_STATUS - spawn_mavlink_pump bridges mavlink_layer into the forwarder at the binary edge AZ-674 vlm_client schema validation + model_version tracking: - AssessmentParser owns schema validation + model-version state - wire::read_response_raw splits raw bytes from parsing so invalid payloads can be logged size-capped - VlmStatus gains an Inconclusive variant; exhaustive-match test guards downstream consumers - VlmPipelineStatus mirrors the new variant in shared::models::poi AZ-667 mapobjects_store hydrate + pending logs + cascade: - SyncState enum aligned with description.md (FreshBoot, Synced, CachedFallback, Degraded, Failed) - Store::hydrate(MapObjectsBundle) replaces in-memory map atomically; freshness=Stale -> CachedFallback - classify() + end_of_pass append MapObjectObservation events to pending_observations (New/Moved/Existing/RemovedCandidate) - apply_decline + LocalAppended ignored items append to pending_ignored - drain_pending() returns and clears both logs - cascade_mission(id) purges by_cell + IgnoredSet + pending logs - Health surface reports sync_state, pending_obs, pending_ign Co-authored-by: Cursor <cursoragent@cursor.com>
97 lines
3.0 KiB
Rust
97 lines
3.0 KiB
Rust
//! `UavTelemetry` — projection of decoded MAVLink telemetry into a
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//! typed snapshot that downstream consumers (`scan_controller`,
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//! `movement_detector`, `telemetry_stream`, BIT) consume.
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//!
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//! Authoritative projection rules:
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//!
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//! - `position` from `GLOBAL_POSITION_INT` (id 33). Latitude/longitude
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//! are kept in their MAVLink-native E7 form so consumers that
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//! compare against waypoints (also E7) don't re-introduce float
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//! round-trip drift. Altitude is in metres (MSL + AGL relative).
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//! Velocities are in m/s, heading in degrees [0, 360).
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//! - `attitude` from `ATTITUDE` (id 30). Angles in radians per the
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//! MAVLink convention.
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//! - `mode` from `HEARTBEAT` (id 0). The `(base_mode, custom_mode)`
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//! pair is the canonical (vehicle-type-specific) discriminator;
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//! `system_status` is the MAV_STATE enum (`MAV_STATE_ACTIVE` etc.).
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//! - `sys_status` from `SYS_STATUS` (id 1). Battery + comms + sensor
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//! health bitfield — the bits consumers actually read are
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//! documented in `architecture.md §5.6`.
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//! - `monotonic_ts_ns` is the host monotonic timestamp captured the
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//! moment the originating MAVLink message was decoded. Strictly
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//! non-decreasing across snapshots. Boot-time-relative fields
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//! (`ts_boot_ms`) are kept on each sub-struct so consumers that
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//! already correlate against MAVLink time-bases (e.g. EKF logs)
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//! don't lose them.
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use serde::{Deserialize, Serialize};
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#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
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pub struct UavPosition {
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pub lat_e7: i32,
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pub lon_e7: i32,
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pub alt_m: f32,
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pub relative_alt_m: f32,
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pub vx_mps: f32,
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pub vy_mps: f32,
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pub vz_mps: f32,
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pub heading_deg: f32,
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pub ts_boot_ms: u32,
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}
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#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
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pub struct UavAttitude {
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pub roll: f32,
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pub pitch: f32,
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pub yaw: f32,
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pub rollspeed: f32,
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pub pitchspeed: f32,
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pub yawspeed: f32,
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pub ts_boot_ms: u32,
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}
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#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
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pub struct UavMode {
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pub base_mode: u8,
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pub custom_mode: u32,
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pub system_status: u8,
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}
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#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
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pub struct UavSysStatus {
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pub voltage_battery_mv: u16,
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pub current_battery_ca: i16,
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pub battery_remaining: i8,
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pub onboard_sensors_health: u32,
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pub errors_comm: u16,
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}
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#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
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pub struct UavTelemetry {
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pub position: Option<UavPosition>,
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pub attitude: Option<UavAttitude>,
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pub mode: Option<UavMode>,
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pub sys_status: Option<UavSysStatus>,
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pub monotonic_ts_ns: u64,
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}
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impl UavTelemetry {
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/// Empty snapshot used as the initial value before any telemetry
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/// has arrived.
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pub fn empty() -> Self {
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Self {
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position: None,
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attitude: None,
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mode: None,
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sys_status: None,
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monotonic_ts_ns: 0,
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}
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}
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}
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impl Default for UavTelemetry {
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fn default() -> Self {
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Self::empty()
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}
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}
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