Add Takeoff and Land

src/components/MiniWidgetInstantiator.vue

@@ -2,6 +2,9 @@
   <template v-if="miniWidget.component === MiniWidgetType.RelativeAltitudeIndicator">
     <RelativeAltitudeIndicator :mini-widget="miniWidget" />
   </template>
+  <template v-if="miniWidget.component === MiniWidgetType.TakeoffLandCommander">
+    <TakeoffLandCommander :mini-widget="miniWidget" />
+  </template>
   <template v-if="miniWidget.component === MiniWidgetType.ArmerButton">
     <ArmerButton :options="miniWidget" />
   </template>
@@ -48,6 +51,7 @@ 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 TakeoffLandCommander from './mini-widgets/TakeoffLandCommander.vue'
 import VeryGenericIndicator from './mini-widgets/VeryGenericIndicator.vue'
 import ViewSelector from './mini-widgets/ViewSelector.vue'
 

src/components/mini-widgets/TakeoffLandCommander.vue

@@ -0,0 +1,16 @@
+<template>
+  <button
+    class="relative flex items-center justify-center w-32 p-1 rounded-md shadow-inner h-9 bg-slate-800/60 hover:bg-slate-400/60"
+    @click="vehicleStore.flying ? vehicleStore.takeoff() : vehicleStore.land()"
+  >
+    <span class="inline-block font-extrabold align-middle text-white">
+      {{ vehicleStore.flying === undefined ? '...' : vehicleStore.flying ? 'Takeoff' : 'Land' }}
+    </span>
+  </button>
+</template>
+
+<script setup lang="ts">
+import { useMainVehicleStore } from '@/stores/mainVehicle'
+
+const vehicleStore = useMainVehicleStore()
+</script>

src/libs/vehicle/ardupilot/ardupilot.ts

@@ -80,6 +80,7 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
   _messages: MAVLinkMessageDictionary = new Map()
 
   onMAVLinkMessage = new SignalTyped()
+  _flying = false
 
   /**
    * Function for subclass inheritance
@@ -296,6 +297,8 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
 
         this._isArmed = Boolean(heartbeat.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_SAFETY_ARMED)
         this.onArm.emit()
+        this._flying = heartbeat.system_status.type === MavState.MAV_STATE_ACTIVE
+        this.onTakeoff.emit()
         break
       }
       case MAVLinkType.SYS_STATUS: {
@@ -385,6 +388,44 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
     return true
   }
 
+  /**
+   * Helper function for commanding takeoff
+   * @param {number} altitude (in meters)
+   */
+  _takeoff(altitude: number): void {
+    this.sendCommandLong(MavCmd.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, altitude)
+  }
+
+  /**
+   * Takeoff
+   * @returns {void}
+   */
+  takeoff(): void {
+    const guidedMode = this.modesAvailable().get('GUIDED')
+    if (guidedMode === undefined) {
+      return
+    }
+
+    this.setMode(guidedMode as Modes)
+    this.arm()
+    this._takeoff(10)
+    this.onTakeoff.emit()
+    return
+  }
+
+  /**
+   * Land
+   * @returns {void}
+   */
+  land(): void {
+    const landMode = this.modesAvailable().get('LAND')
+    if (landMode === undefined) {
+      return
+    }
+    this.setMode(landMode as Modes)
+    return
+  }
+
   /**
    * Return vehicle altitude-related data
    * @returns {Altitude}
@@ -442,6 +483,14 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
     return this._isArmed
   }
 
+  /**
+   * Check if the vehicle is flying
+   * @returns {boolean}
+   */
+  flying(): boolean {
+    return !this._flying
+  }
+
   /**
    * Return metadata from the vehicle
    * @returns {MetadataFile}

src/libs/vehicle/vehicle.ts

@@ -82,6 +82,7 @@ export abstract class AbstractVehicle<Modes> {
   onParameter = new Signal<[Parameter, number | undefined]>()
   onStatusGPS = new Signal<StatusGPS>()
   onStatusText = new Signal<StatusText>()
+  onTakeoff = new Signal<boolean>()
   onVelocity = new Signal<Velocity>()
 
   /**
@@ -117,6 +118,7 @@ export abstract class AbstractVehicle<Modes> {
     this.onParameter.register_caller(() => [this.lastParameter(), this.totalParametersCount()])
     this.onStatusText.register_caller(() => this.statusText())
     this.onStatusGPS.register_caller(() => this.statusGPS())
+    this.onTakeoff.register_caller(() => this.flying())
     this.onVelocity.register_caller(() => this.velocity())
   }
 
@@ -185,4 +187,5 @@ export abstract class AbstractVehicle<Modes> {
   abstract statusText(): StatusText
   abstract statusGPS(): StatusGPS
   abstract setMode(mode: Modes): void
+  abstract flying(): boolean
 }

src/stores/mainVehicle.ts

@@ -104,6 +104,7 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
   const velocity: Velocity = reactive({} as Velocity)
   const mainVehicle = ref<ArduPilot | undefined>(undefined)
   const isArmed = ref<boolean | undefined>(undefined)
+  const flying = ref<boolean | undefined>(undefined)
   const icon = ref<string | undefined>(undefined)
   const configurationPages = ref<PageDescription[]>([])
   const timeNow = useTimestamp({ interval: 100 })
@@ -136,6 +137,19 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
   function disarm(): void {
     mainVehicle.value?.disarm()
   }
+  /**
+   * Takeoff the vehicle
+   */
+  function takeoff(): void {
+    mainVehicle.value?.takeoff()
+  }
+
+  /**
+   * Land the vehicle
+   */
+  function land(): void {
+    mainVehicle.value?.land()
+  }
 
   /**
    * Configure the vehicle somehow
@@ -237,6 +251,9 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     mainVehicle.value.onArm.add((armed: boolean) => {
       isArmed.value = armed
     })
+    mainVehicle.value.onTakeoff.add((inAir: boolean) => {
+      flying.value = inAir
+    })
     mainVehicle.value.onCpuLoad.add((newCpuLoad: number) => {
       cpuLoad.value = newCpuLoad
     })
@@ -350,6 +367,8 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
 
   return {
     arm,
+    takeoff,
+    land,
     disarm,
     modesAvailable,
     setFlightMode,
@@ -376,6 +395,7 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     mode,
     modes,
     isArmed,
+    flying,
     isVehicleOnline,
     icon,
     configurationPages,

src/types/miniWidgets.ts

@@ -8,6 +8,7 @@ export enum MiniWidgetType {
   BatteryIndicator = 'BatteryIndicator',
   DepthIndicator = 'DepthIndicator',
   RelativeAltitudeIndicator = 'RelativeAltitudeIndicator',
+  TakeoffLandCommander = 'TakeoffLandCommander',
   VeryGenericIndicator = 'VeryGenericIndicator',
   JoystickCommIndicator = 'JoystickCommIndicator',
   MiniVideoRecorder = 'MiniVideoRecorder',