Add satellite mini widget

src/components/MiniWidgetInstantiator.vue

@@ -23,6 +23,9 @@
   <template v-if="widgetType === MiniWidgetType.ModeSelector">
     <ModeSelector :options="options" />
   </template>
+  <template v-if="widgetType === MiniWidgetType.SatelliteIndicator">
+    <SatelliteIndicator :options="options" />
+  </template>
   <template v-if="widgetType === MiniWidgetType.ViewSelector">
     <ViewSelector :options="options" />
   </template>
@@ -41,6 +44,7 @@ import GenericIndicator from './mini-widgets/GenericIndicator.vue'
 import JoystickCommIndicator from './mini-widgets/JoystickCommIndicator.vue'
 import MiniVideoRecorder from './mini-widgets/MiniVideoRecorder.vue'
 import ModeSelector from './mini-widgets/ModeSelector.vue'
+import SatelliteIndicator from './mini-widgets/SatelliteIndicator.vue'
 import ViewSelector from './mini-widgets/ViewSelector.vue'
 
 const props = defineProps<{

src/components/mini-widgets/SatelliteIndicator.vue

@@ -0,0 +1,15 @@
+<template>
+  <div class="flex items-center w-fit min-w-[8rem] max-w-[9rem] h-12 p-1 text-white justify-center">
+    <span class="relative w-[2.25rem] mdi mdi-satellite-variant text-4xl"></span>
+    <div class="flex flex-col items-start justify-center ml-1 min-w-[4rem] max-w-[6rem] select-none">
+      <span class="font-mono font-semibold leading-4 text-end w-fit">{{ store.statusGPS.visibleSatellites }} sats</span>
+      <span class="font-mono text-sm font-semibold leading-4 text-end w-fit">{{ store.statusGPS.fixType }}</span>
+    </div>
+  </div>
+</template>
+
+<script setup lang="ts">
+import { useMainVehicleStore } from '@/stores/mainVehicle'
+
+const store = useMainVehicleStore()
+</script>

src/libs/vehicle/ardupilot/ardupilot.ts

@@ -3,8 +3,10 @@ import type {
   MAVLinkMessageDictionary,
   Message as MavMessage,
   Package,
+  Type,
 } from '@/libs/connection/m2r/messages/mavlink2rest'
 import {
+  GpsFixType,
   MavAutopilot,
   MavCmd,
   MavComponent,
@@ -19,6 +21,7 @@ import { MavFrame } from '@/libs/connection/m2r/messages/mavlink2rest-enum'
 import { type Message } from '@/libs/connection/m2r/messages/mavlink2rest-message'
 import { MavlinkControllerState } from '@/libs/joystick/protocols'
 import { SignalTyped } from '@/libs/signal'
+import { round } from '@/libs/utils'
 import {
   alertLevelFromMavSeverity,
   convertCockpitWaypointsToMavlink,
@@ -30,8 +33,10 @@ import {
   Attitude,
   Battery,
   Coordinates,
+  FixTypeGPS,
   Parameter,
   PowerSupply,
+  StatusGPS,
   StatusText,
   Velocity,
 } from '@/libs/vehicle/types'
@@ -65,6 +70,7 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
   _currentCockpitMissionItemsOnPlanning: Waypoint[] = []
   _currentMavlinkMissionItemsOnVehicle: Message.MissionItemInt[] = []
   _statusText = new StatusText()
+  _statusGPS = new StatusGPS()
   _vehicleSpecificErrors = [0, 0, 0, 0]
 
   _messages: MAVLinkMessageDictionary = new Map()
@@ -207,6 +213,26 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
         this.onVelocity.emit()
         break
       }
+      case MAVLinkType.GPS_RAW_INT: {
+        const gpsMessage = mavlink_message.message as Message.GpsRawInt
+        this._statusGPS.visibleSatellites = gpsMessage.satellites_visible
+        this._statusGPS.HDOP = round(gpsMessage.eph / 100)
+        this._statusGPS.VDOP = round(gpsMessage.epv / 100)
+        const arduPilotGPSFixTable = {
+          [GpsFixType.GPS_FIX_TYPE_NO_GPS]: FixTypeGPS.NO_GPS,
+          [GpsFixType.GPS_FIX_TYPE_NO_FIX]: FixTypeGPS.NO_FIX,
+          [GpsFixType.GPS_FIX_TYPE_2D_FIX]: FixTypeGPS.FIX_2D,
+          [GpsFixType.GPS_FIX_TYPE_3D_FIX]: FixTypeGPS.FIX_3D,
+          [GpsFixType.GPS_FIX_TYPE_DGPS]: FixTypeGPS.DGPS,
+          [GpsFixType.GPS_FIX_TYPE_RTK_FLOAT]: FixTypeGPS.RTK_FLOAT,
+          [GpsFixType.GPS_FIX_TYPE_RTK_FIXED]: FixTypeGPS.RTK_FIXED,
+          [GpsFixType.GPS_FIX_TYPE_STATIC]: FixTypeGPS.STATIC,
+          [GpsFixType.GPS_FIX_TYPE_PPP]: FixTypeGPS.PPP,
+        }
+        this._statusGPS.fixType = arduPilotGPSFixTable[(gpsMessage.fix_type as unknown as Type<GpsFixType>).type]
+        this.onStatusGPS.emit()
+        break
+      }
       case MAVLinkType.HEARTBEAT: {
         const heartbeat = mavlink_message.message as Message.Heartbeat
 
@@ -389,6 +415,14 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
     return this._statusText
   }
 
+  /**
+   * Return GPS status information
+   * @returns {StatusGPS}
+   */
+  statusGPS(): StatusGPS {
+    return this._statusGPS
+  }
+
   /**
    * Send manual control
    * @param {'ProtocolControllerState'} controllerState Current state of the controller

src/libs/vehicle/types.ts

@@ -176,6 +176,31 @@ export class StatusText {
   text: string | undefined
 }
 
+/**
+ * Possible fix types for GPS
+ */
+export enum FixTypeGPS {
+  NO_GPS = 'No GPS',
+  NO_FIX = 'No fix',
+  FIX_2D = '2D fix',
+  FIX_3D = '3D fix',
+  DGPS = 'DGPS fix',
+  RTK_FLOAT = 'RTK float',
+  RTK_FIXED = 'RTK fix',
+  STATIC = 'Static',
+  PPP = 'PPP fix',
+}
+
+/**
+ * GPS status
+ */
+export class StatusGPS {
+  visibleSatellites = 0
+  fixType = FixTypeGPS.NO_GPS
+  HDOP: number
+  VDOP: number
+}
+
 /**
  * Battery abstraction
  */

src/libs/vehicle/vehicle.ts

@@ -10,6 +10,7 @@ import type {
   PageDescription,
   Parameter,
   PowerSupply,
+  StatusGPS,
   StatusText,
   Velocity,
 } from '@/libs/vehicle/types'
@@ -79,6 +80,7 @@ export abstract class AbstractVehicle<Modes> {
   onPosition = new Signal<Coordinates>()
   onPowerSupply = new Signal<PowerSupply>()
   onParameter = new Signal<Parameter>()
+  onStatusGPS = new Signal<StatusGPS>()
   onStatusText = new Signal<StatusText>()
   onVelocity = new Signal<Velocity>()
 
@@ -114,6 +116,7 @@ export abstract class AbstractVehicle<Modes> {
     this.onPowerSupply.register_caller(() => this.powerSupply())
     this.onParameter.register_caller(() => this.lastParameter())
     this.onStatusText.register_caller(() => this.statusText())
+    this.onStatusGPS.register_caller(() => this.statusGPS())
     this.onVelocity.register_caller(() => this.velocity())
   }
 
@@ -179,5 +182,6 @@ export abstract class AbstractVehicle<Modes> {
   abstract powerSupply(): PowerSupply
   abstract lastParameter(): Parameter
   abstract statusText(): StatusText
+  abstract statusGPS(): StatusGPS
   abstract setMode(mode: Modes): void
 }

src/stores/mainVehicle.ts

@@ -29,6 +29,7 @@ import type {
   PageDescription,
   Parameter,
   PowerSupply,
+  StatusGPS,
   StatusText,
   Velocity,
 } from '@/libs/vehicle/types'
@@ -124,6 +125,7 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
   const configurationPages = ref<PageDescription[]>([])
   const timeNow = useTimestamp({ interval: 100 })
   const statusText: StatusText = reactive({} as StatusText)
+  const statusGPS: StatusGPS = reactive({} as StatusGPS)
   const genericVariables: Record<string, unknown> = reactive({})
 
   const mode = ref<string | undefined>(undefined)
@@ -277,6 +279,9 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     mainVehicle.value.onStatusText.add((newStatusText: StatusText) => {
       Object.assign(statusText, newStatusText)
     })
+    mainVehicle.value.onStatusGPS.add((newStatusGPS: StatusGPS) => {
+      Object.assign(statusGPS, newStatusGPS)
+    })
     mainVehicle.value.onGenericVariables.add((newGenericVariablesState: Record<string, unknown>) => {
       Object.assign(genericVariables, newGenericVariablesState)
     })
@@ -459,6 +464,7 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     velocity,
     powerSupply,
     statusText,
+    statusGPS,
     mode,
     modes,
     isArmed,

src/types/miniWidgets.ts

@@ -11,6 +11,7 @@ export enum MiniWidgetType {
   JoystickCommIndicator = 'JoystickCommIndicator',
   MiniVideoRecorder = 'MiniVideoRecorder',
   ModeSelector = 'ModeSelector',
+  SatelliteIndicator = 'SatelliteIndicator',
   ViewSelector = 'ViewSelector',
 }