866 add support for dual gps

gcs/src/dashboard.jsx

@@ -35,9 +35,11 @@ import {
   selectDroneCoords,
   selectFlightMode,
   selectGPSRawInt,
+  selectGPS2RawInt,
   selectNotificationSound,
   selectRSSI,
   soundPlayed,
+  selectHasSecondaryGps,
 } from "./redux/slices/droneInfoSlice"
 import { selectMessages } from "./redux/slices/statusTextSlice"
 
@@ -81,6 +83,10 @@ export default function Dashboard() {
   const hdopDisplay = hdop != null ? hdop.toFixed(2) : "0.00"
 
   const connectedToDrone = useSelector(selectConnectedToDrone)
+  const gps2 = useSelector(selectGPS2RawInt)
+  const hasSecondaryGps = useSelector(selectHasSecondaryGps)
+
+  const secondaryGpsFixLabel = GPS_FIX_TYPES[gps2.fixType]
 
   // Telemetry panel sizing
   const [telemetryPanelSize, setTelemetryPanelSize] = useLocalStorage({
@@ -201,6 +207,13 @@ export default function Dashboard() {
             value={GPS_FIX_TYPES[fixType]}
             tooltip="GPS fix type"
           />
+          {hasSecondaryGps && (
+            <StatusSection
+              icon={<IconRadar />}
+              value={secondaryGpsFixLabel}
+              tooltip="GPS2 fix type"
+            />
+          )}
           <StatusSection
             icon={<IconTarget />}
             value={hdopDisplay}

gcs/src/redux/middleware/socketMiddleware.js

@@ -62,6 +62,7 @@ import {
   setFlightSwVersion,
   setGpsData,
   setGpsRawIntData,
+  setGps2RawIntData,
   setGuidedModePinData,
   setHeartbeatData,
   setHomePosition,
@@ -227,6 +228,18 @@ const socketMiddleware = (store) => {
         store.dispatch(calculateGpsTrackHeadingThunk())
         break
       }
+      case "GPS2_RAW": {
+        // MAVLink GPS2_RAW provides 'eph' (HDOP * 100).
+        const hdop = msg.eph != null ? msg.eph / 100.0 : null
+
+        store.dispatch(
+          setGps2RawIntData({
+            ...msg,
+            hdop,
+          }),
+        )
+        break
+      }
       case "RC_CHANNELS":
         // NOTE: UNABLE TO TEST IN SIMULATOR!
         store.dispatch(setRSSIData(msg.rssi))

gcs/src/redux/slices/droneInfoSlice.js

@@ -59,6 +59,14 @@ const droneInfoSlice = createSlice({
       courseOverGround: 0,
       hdop: 0,
     },
+    gps2RawIntData: {
+      fixType: 0,
+      satellitesVisible: 0,
+      velocity: 0,
+      courseOverGround: 0,
+      hdop: 0,
+    },
+    hasSecondaryGps: false,
     rssi: 0.0,
     notificationSound: "",
     aircraftType: 0, // TODO: This should be in local storage but I have no idea how :D,
@@ -183,6 +191,20 @@ const droneInfoSlice = createSlice({
         state.gpsRawIntData.hdop = action.payload.hdop ?? 0
       }
     },
+    setGps2RawIntData: (state, action) => {
+      if (action.payload !== state.gps2RawIntData) {
+        state.gps2RawIntData.satellitesVisible =
+          action.payload.satellites_visible
+        state.gps2RawIntData.fixType = action.payload.fix_type
+        state.gps2RawIntData.velocity = action.payload.vel / 100.0 // cm/s to m/s
+        state.gps2RawIntData.courseOverGround = centiDegToDeg(
+          action.payload.cog,
+        )
+        state.gps2RawIntData.hdop = action.payload.hdop ?? 0
+
+        state.hasSecondaryGps = true // Reducer called => gps2 exists
+      }
+    },
     setOnboardControlSensorsEnabled: (state, action) => {
       if (action.payload !== state.onboardControlSensorsEnabled) {
         state.onboardControlSensorsEnabled = action.payload
@@ -273,6 +295,8 @@ const droneInfoSlice = createSlice({
     selectPrearmEnabled: (state) =>
       state.onboardControlSensorsEnabled & 268435456,
     selectGPSRawInt: (state) => state.gpsRawIntData,
+    selectGPS2RawInt: (state) => state.gps2RawIntData,
+    selectHasSecondaryGps: (state) => state.hasSecondaryGps,
     selectRSSI: (state) => state.rssi,
     selectAircraftType: (state) => state.aircraftType,
     selectBatteryData: (state) =>
@@ -303,6 +327,7 @@ export const {
   setAttitudeData,
   setNavControllerOutput,
   setGpsRawIntData,
+  setGps2RawIntData,
   setBatteryData,
   setOnboardControlSensorsEnabled,
   setRSSIData,
@@ -417,6 +442,8 @@ export const {
   selectArmed,
   selectPrearmEnabled,
   selectGPSRawInt,
+  selectGPS2RawInt,
+  selectHasSecondaryGps,
   selectRSSI,
   selectHeading,
   selectSystemStatus,

radio/app/endpoints/states.py

@@ -25,6 +25,7 @@ class SetStateType(TypedDict):
         "NAV_CONTROLLER_OUTPUT",
         "SYS_STATUS",
         "GPS_RAW_INT",
+        "GPS2_RAW",
         "RC_CHANNELS",
         "ESC_TELEMETRY_5_TO_8",
         "MISSION_CURRENT",

radio/tests/test_states.py

@@ -32,8 +32,7 @@ def test_setState_dashboard_state(
     """Test setting state to dashboard"""
     socketio_client.emit("set_state", {"state": "dashboard"})
     assert len(socketio_client.get_received()) == 0
-    # TODO: These values don't seem right to me, they don't include the STATUSTEXT listener?
-    assert len(droneStatus.drone.message_listeners) == 15
+    assert len(droneStatus.drone.message_listeners) == 16
 
 
 @falcon_test(pass_drone_status=True)