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Added UAS Tool active actions from ATAK

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This commit is contained in:
Valmo Trindade
2026-05-10 01:19:39 -03:00
parent 80320c0f2c
commit 9b05bcccc2
5 changed files with 798 additions and 36 deletions
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43
src/uas/packets.rs
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@@ -49,6 +49,37 @@ pub(crate) fn command_ack_packet(
build_v2_packet(system_id, component_id, 77, &msg, 143)
}
pub(crate) fn mission_request_int_packet(
system_id: u8,
component_id: u8,
target_system: u8,
target_component: u8,
seq: u16,
mission_type: u8,
) -> Vec<u8> {
let mut msg = Vec::with_capacity(5);
msg.extend_from_slice(&seq.to_le_bytes());
msg.push(target_system);
msg.push(target_component);
msg.push(mission_type);
build_v2_packet(system_id, component_id, 51, &msg, 196)
}
pub(crate) fn mission_ack_packet(
system_id: u8,
component_id: u8,
target_system: u8,
target_component: u8,
mission_type: u8,
) -> Vec<u8> {
let mut msg = Vec::with_capacity(4);
msg.push(target_system);
msg.push(target_component);
msg.push(0);
msg.push(mission_type);
build_v2_packet(system_id, component_id, 47, &msg, 153)
}
pub(crate) fn gps_raw_int_packet(payload: &UasTelemetryPayload) -> Vec<u8> {
let time_usec = (Utc::now().timestamp_millis().max(0) as u64) * 1_000;
let fix_type = if payload.flying { 3u8 } else { 2u8 };
@@ -119,7 +150,7 @@ pub(crate) fn vfr_hud_packet(payload: &UasTelemetryPayload) -> Vec<u8> {
build_v1_packet(payload.system_id, payload.component_id, 74, &msg, 20)
}
pub(crate) fn system_status_packet(system_id: u8) -> Vec<u8> {
pub(crate) fn system_status_packet(system_id: u8, battery_remaining_pct: i8) -> Vec<u8> {
let fields = [
FieldSpec {
ty: "uint32_t",
@@ -203,12 +234,12 @@ pub(crate) fn system_status_packet(system_id: u8) -> Vec<u8> {
msg.extend_from_slice(&0u16.to_le_bytes());
msg.extend_from_slice(&0u16.to_le_bytes());
msg.extend_from_slice(&0u16.to_le_bytes());
msg.push(100u8);
msg.push(battery_remaining_pct.clamp(0, 100) as u8);
build_v2_packet(system_id, AUTOPILOT_COMPONENT_ID, 1, &msg, crc_extra)
}
pub(crate) fn extended_sys_state_packet(system_id: u8, flying: bool) -> Vec<u8> {
pub(crate) fn extended_sys_state_packet(system_id: u8, landed: bool) -> Vec<u8> {
let fields = [
FieldSpec {
ty: "uint8_t",
@@ -225,10 +256,10 @@ pub(crate) fn extended_sys_state_packet(system_id: u8, flying: bool) -> Vec<u8>
let mut msg = Vec::with_capacity(2);
msg.push(MAV_LANDED_STATE_UNDEFINED);
msg.push(if flying {
MAV_LANDED_STATE_IN_AIR
} else {
msg.push(if landed {
MAV_LANDED_STATE_ON_GROUND
} else {
MAV_LANDED_STATE_IN_AIR
});
build_v2_packet(system_id, AUTOPILOT_COMPONENT_ID, 245, &msg, crc_extra)