From f9a899abb152640c447b9f1ec5179395a5578dc4 Mon Sep 17 00:00:00 2001
From: Eric Johnson <eric.emj.johnson@gmail.com>
Date: Sun, 19 Nov 2023 17:07:09 -0600
Subject: [PATCH] Add Relative Altitude Mini Widget

---
 src/assets/altitude-icon.svg                  |  3 +++
 src/components/MiniWidgetInstantiator.vue     |  4 ++++
 .../RelativeAltitudeIndicator.vue             | 24 +++++++++++++++++++
 src/libs/vehicle/ardupilot/ardupilot.ts       |  4 +++-
 src/libs/vehicle/types.ts                     |  2 +-
 src/types/miniWidgets.ts                      |  1 +
 6 files changed, 36 insertions(+), 2 deletions(-)
 create mode 100644 src/assets/altitude-icon.svg
 create mode 100644 src/components/mini-widgets/RelativeAltitudeIndicator.vue

diff --git a/src/assets/altitude-icon.svg b/src/assets/altitude-icon.svg
new file mode 100644
index 000000000..769f4f7ae
--- /dev/null
+++ b/src/assets/altitude-icon.svg
@@ -0,0 +1,3 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="16" height="16" fill="white" class="bi bi-arrow-up" viewBox="0 0 16 16">
+  <path fill-rule="evenodd" d="M8 15a.5.5 0 0 0 .5-.5V2.707l3.146 3.147a.5.5 0 0 0 .708-.708l-4-4a.5.5 0 0 0-.708 0l-4 4a.5.5 0 1 0 .708.708L7.5 2.707V14.5a.5.5 0 0 0 .5.5z"/>
+</svg>
\ No newline at end of file
diff --git a/src/components/MiniWidgetInstantiator.vue b/src/components/MiniWidgetInstantiator.vue
index abb89e896..09b62aff3 100644
--- a/src/components/MiniWidgetInstantiator.vue
+++ b/src/components/MiniWidgetInstantiator.vue
@@ -1,4 +1,7 @@
 <template>
+  <template v-if="miniWidget.component === MiniWidgetType.RelativeAltitudeIndicator">
+    <RelativeAltitudeIndicator :mini-widget="miniWidget" />
+  </template>
   <template v-if="miniWidget.component === MiniWidgetType.ArmerButton">
     <ArmerButton :options="miniWidget" />
   </template>
@@ -43,6 +46,7 @@ import DepthIndicator from './mini-widgets/DepthIndicator.vue'
 import JoystickCommIndicator from './mini-widgets/JoystickCommIndicator.vue'
 import MiniVideoRecorder from './mini-widgets/MiniVideoRecorder.vue'
 import ModeSelector from './mini-widgets/ModeSelector.vue'
+import RelativeAltitudeIndicator from './mini-widgets/RelativeAltitudeIndicator.vue'
 import SatelliteIndicator from './mini-widgets/SatelliteIndicator.vue'
 import VeryGenericIndicator from './mini-widgets/VeryGenericIndicator.vue'
 import ViewSelector from './mini-widgets/ViewSelector.vue'
diff --git a/src/components/mini-widgets/RelativeAltitudeIndicator.vue b/src/components/mini-widgets/RelativeAltitudeIndicator.vue
new file mode 100644
index 000000000..f006fd321
--- /dev/null
+++ b/src/components/mini-widgets/RelativeAltitudeIndicator.vue
@@ -0,0 +1,24 @@
+<template>
+  <div class="flex items-center w-fit min-w-[8rem] max-w-[9rem] h-12 p-1 text-white justify-center">
+    <img src="@/assets/altitude-icon.svg" class="h-full" :draggable="false" />
+    <div class="flex flex-col items-start justify-center ml-1 min-w-[4rem] max-w-[6rem] select-none">
+      <div>
+        <span class="font-mono text-xl font-semibold leading-6 w-fit">{{ round(altitude, 2).toFixed(2) }}</span>
+        <span class="text-xl font-semibold leading-6 w-fit"> m</span>
+      </div>
+      <span class="w-full text-sm font-semibold leading-4 whitespace-nowrap">Alt (Rel)</span>
+    </div>
+  </div>
+</template>
+
+<script setup lang="ts">
+import { ref, watch } from 'vue'
+
+import { round } from '@/libs/utils'
+import { useMainVehicleStore } from '@/stores/mainVehicle'
+
+const store = useMainVehicleStore()
+
+const altitude = ref(0)
+watch(store.altitude, () => (altitude.value = store.altitude.rel))
+</script>
diff --git a/src/libs/vehicle/ardupilot/ardupilot.ts b/src/libs/vehicle/ardupilot/ardupilot.ts
index 9e1f3e7f8..febc9006d 100644
--- a/src/libs/vehicle/ardupilot/ardupilot.ts
+++ b/src/libs/vehicle/ardupilot/ardupilot.ts
@@ -54,7 +54,7 @@ export type ArduPilot = ArduPilotVehicle<any>
  * Generic ArduPilot vehicle
  */
 export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Modes> {
-  _altitude = new Altitude({ msl: 0 })
+  _altitude = new Altitude({ msl: 0, rel: 0 })
   _attitude = new Attitude({ roll: 0, pitch: 0, yaw: 0 })
   _communicationDropRate = 0
   _communicationErrors = 0
@@ -269,6 +269,8 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
         this._velocity.ground = Math.sqrt(this._velocity.x ** 2 + this._velocity.y ** 2)
         this._velocity.overall = Math.sqrt(this._velocity.x ** 2 + this._velocity.y ** 2 + this._velocity.z ** 2)
         this.onVelocity.emit()
+        this._altitude.rel = position.relative_alt / 1000 // (mm to meters)
+        this.onAltitude.emit()
         break
       }
       case MAVLinkType.GPS_RAW_INT: {
diff --git a/src/libs/vehicle/types.ts b/src/libs/vehicle/types.ts
index f243e9ced..d34de2485 100644
--- a/src/libs/vehicle/types.ts
+++ b/src/libs/vehicle/types.ts
@@ -122,7 +122,7 @@ export class Attitude {
  */
 export class Altitude {
   msl: number // Mean Sea Level, in meters
-
+  rel: number // Relative altitude, in meters
   /**
    * Create object
    * @param {Partial<Altitude>} init
diff --git a/src/types/miniWidgets.ts b/src/types/miniWidgets.ts
index 0f3cb78f9..c5710d868 100644
--- a/src/types/miniWidgets.ts
+++ b/src/types/miniWidgets.ts
@@ -7,6 +7,7 @@ export enum MiniWidgetType {
   BaseCommIndicator = 'BaseCommIndicator',
   BatteryIndicator = 'BatteryIndicator',
   DepthIndicator = 'DepthIndicator',
+  RelativeAltitudeIndicator = 'RelativeAltitudeIndicator',
   VeryGenericIndicator = 'VeryGenericIndicator',
   JoystickCommIndicator = 'JoystickCommIndicator',
   MiniVideoRecorder = 'MiniVideoRecorder',