tajniak81andClaude Opus 5.5
60c2fd7f64
Plan P5: a value bubble on the pitch slider while dragging, press-and-drag on the video as a speed joystick (re-sent at 10 Hz, zero on release), and a gimbal settings sheet: mode, 30° extension, yaw follow, recenter / face down / yaw recenter, roll fine-tune, auto calibration and advanced speed/smoothness rows gated by the gimbal's capability ranges. GimbalBridge reports mode, trim, calibration and stop/overload state in the gimbal telemetry group, and getter-only settings in a new gimbalSettings slow group. The reported-plus-pending overlay moves out of CameraState into a SettingsOverlay mixin shared by camera and gimbal. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
90 lines
2.8 KiB
Dart
90 lines
2.8 KiB
Dart
import 'package:flutter/foundation.dart';
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import 'parse.dart';
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import 'settings_overlay.dart';
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/// Gimbal attitude, mode and status, fed from the `gimbal` group of the
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/// telemetry tick; the getter-only settings (pitch extension, yaw follow,
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/// controller tuning) from the `gimbalSettings` group, overlaid with the
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/// gimbal sheet's pending writes ([SettingsOverlay]).
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class GimbalState extends ChangeNotifier with SettingsOverlay {
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double? pitch; // −90..+30-ish
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double? roll;
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double? yaw;
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/// `YAW_FOLLOW` / `FPV` / `FREE`.
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String? mode;
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/// Yaw relative to the aircraft's nose, for gimbals that pan.
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double? yawRelative;
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double? pitchFineTune;
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double? rollFineTune;
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double? yawFineTune;
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bool calibrating = false;
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int? calibrationProgress; // 0..100
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bool? calibrationSuccessful;
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/// How the last calibration seen from start to end went; null until one ends.
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bool? lastCalibrationOk;
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bool pitchAtStop = false;
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bool yawAtStop = false;
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bool motorOverloaded = false;
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DateTime? updatedAt;
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// The `gimbalSettings` group, as the sheet shows it (pending writes included).
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bool? get pitchExtension => asBool(settings['pitchExtension']);
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bool? get yawFollow => asBool(settings['yawFollow']);
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void apply(Map<String, dynamic> g) {
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pitch = finite(g['pitch']);
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roll = finite(g['roll']);
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yaw = finite(g['yaw']);
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mode = asString(g['mode']);
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yawRelative = finite(g['yawRelative']);
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pitchFineTune = finite(g['pitchFineTune']);
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rollFineTune = finite(g['rollFineTune']);
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yawFineTune = finite(g['yawFineTune']);
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final bool wasCalibrating = calibrating;
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calibrating = asBool(g['calibrating']) ?? false;
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calibrationProgress = asInt(g['calibrationProgress']);
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calibrationSuccessful = asBool(g['calibrationSuccessful']);
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if (wasCalibrating && !calibrating) lastCalibrationOk = calibrationSuccessful;
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pitchAtStop = asBool(g['pitchAtStop']) ?? false;
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yawAtStop = asBool(g['yawAtStop']) ?? false;
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motorOverloaded = asBool(g['motorOverloaded']) ?? false;
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updatedAt = DateTime.now();
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notifyListeners();
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}
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/// From the telemetry tick; an absent group means the gimbal reported none.
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void applySettings(Map<String, dynamic>? s) {
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replaceReported(s ?? const <String, dynamic>{});
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notifyListeners();
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}
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/// Shows [mode] ahead of the gimbal's next state callback.
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void setModeOptimistic(String mode) {
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if (this.mode == mode) return;
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this.mode = mode;
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notifyListeners();
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}
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void clear() {
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pitch = roll = yaw = yawRelative = null;
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pitchFineTune = rollFineTune = yawFineTune = null;
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mode = null;
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calibrating = false;
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calibrationProgress = null;
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calibrationSuccessful = null;
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lastCalibrationOk = null;
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pitchAtStop = yawAtStop = motorOverloaded = false;
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clearSettings();
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updatedAt = null;
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notifyListeners();
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}
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}
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