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added land and home storage

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This commit is contained in:
Valmo Trindade
2026-05-10 01:19:13 -03:00
parent b43a6c9748
commit 80320c0f2c
3 changed files with 56 additions and 5 deletions
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src/uas/state.rs
+30
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@@ -26,6 +26,9 @@ pub(crate) struct LatestUasSystem {
pub image_alt_msl_m: f32,
pub has_turret_camera: bool,
pub active_camera_component: u8,
pub home_lat_deg: f64,
pub home_lon_deg: f64,
pub home_alt_msl_m: f32,
}
lazy_static! {
@@ -38,6 +41,20 @@ pub(crate) fn record_system(system_id: u8, mavlink_identity: &str, payload: &Uas
.get(&system_id)
.map(|system| system.active_camera_component)
.unwrap_or(super::constants::CAMERA_COMPONENT_ID);
let home = systems
.get(&system_id)
.map(|system| {
(
system.home_lat_deg,
system.home_lon_deg,
system.home_alt_msl_m,
)
})
.unwrap_or((
payload.lat_deg,
payload.lon_deg,
payload.alt_msl_m - payload.rel_alt_m,
));
systems.insert(
system_id,
@@ -61,11 +78,24 @@ pub(crate) fn record_system(system_id: u8, mavlink_identity: &str, payload: &Uas
image_alt_msl_m: payload.image_alt_msl_m,
has_turret_camera: payload.has_turret_camera,
active_camera_component,
home_lat_deg: home.0,
home_lon_deg: home.1,
home_alt_msl_m: home.2,
},
);
}
}
pub(crate) fn set_home(system_id: u8, lat_deg: f64, lon_deg: f64, alt_msl_m: f32) {
if let Ok(mut systems) = LATEST_UAS_SYSTEMS.lock() {
if let Some(system) = systems.get_mut(&system_id) {
system.home_lat_deg = lat_deg;
system.home_lon_deg = lon_deg;
system.home_alt_msl_m = alt_msl_m;
}
}
}
pub(crate) fn latest_system(system_id: u8) -> Option<LatestUasSystem> {
LATEST_UAS_SYSTEMS
.lock()