Mavlink updates

other-modules/comm/sensorhub-comm-mavlink2/build.gradle

@@ -1,4 +1,4 @@
-description = 'MAVLink Connection'
+description = 'Unmanned System'
 ext.details = 'MAVLink adapter'
 
 dependencies{

other-modules/comm/sensorhub-comm-mavlink2/src/main/java/org/sensorhub/impl/comm/mavlink2/MavLinkCommNetwork.java

@@ -120,6 +120,7 @@ private void registerModule() {
             unmannedConfig.name = "Unmanned System";
             unmannedConfig.autoStart = true;
             unmannedConfig.moduleClass = UnmannedSystem.class.getCanonicalName();
+            unmannedConfig.serialNumber = UUID.randomUUID().toString();
 
             try {
 

other-modules/comm/sensorhub-comm-mavlink2/src/main/java/org/sensorhub/impl/comm/mavlink2/UnmannedConfig.java

@@ -13,6 +13,11 @@
 
 import org.sensorhub.api.config.DisplayInfo;
 import org.sensorhub.api.sensor.SensorConfig;
+import org.sensorhub.impl.comm.mavlink2.config.MissionConfig;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.UUID;
 
 /**
  * Configuration settings for the {@link UnmannedSystem} driver exposed via the OpenSensorHub Admin panel.
@@ -33,5 +38,11 @@ public class UnmannedConfig extends SensorConfig {
      */
     @DisplayInfo.Required
     @DisplayInfo(desc = "Serial number or unique identifier")
-    public String serialNumber = "sensor001";
+    public String serialNumber = UUID.randomUUID().toString();;
+
+    public List<MissionConfig> missions;
+
+    public String SDKAddress = "127.0.0.1";
+    public int SDKPort = 50051;
+    public String systemId;
 }

other-modules/comm/sensorhub-comm-mavlink2/src/main/java/org/sensorhub/impl/comm/mavlink2/UnmannedControlLocation.java

@@ -17,6 +17,7 @@ Developer are Copyright (C) 2025 the Initial Developer. All Rights Reserved.
 package org.sensorhub.impl.comm.mavlink2;
 
 import io.mavsdk.action.Action;
+import io.reactivex.Completable;
 import net.opengis.swe.v20.*;
 import org.sensorhub.api.command.CommandException;
 import org.sensorhub.impl.sensor.AbstractSensorControl;
@@ -63,7 +64,7 @@ public class UnmannedControlLocation extends AbstractSensorControl<UnmannedSyste
 
     private io.mavsdk.System system = null;
 
-    static double deltaSuccess =   0.000003; //distance from lat/lon to determine success
+    static double deltaSuccess =   0.000005; //distance from lat/lon to determine success
 
     public UnmannedControlLocation( UnmannedSystem parentSensor) {
         super("mavControl", parentSensor);
@@ -121,7 +122,8 @@ protected boolean execCommand(DataBlock command) throws CommandException {
         System.out.println("Command received - Lat: " + latitude + " Lon: " + longitude + " Alt: " + altitude );
 
         if ( system != null ) {
-            sendToLocation( latitude, longitude, altitude, returnToStart, hoverSeconds );
+            sendToLocation( latitude, longitude, altitude, returnToStart, hoverSeconds )
+                    .subscribe();
         } else {
             throw new CommandException("Unmanned System not initialized");
         }
@@ -130,37 +132,32 @@ protected boolean execCommand(DataBlock command) throws CommandException {
     }
 
 
-    private void sendToLocation( double latitudeParam,
+    public Completable sendToLocation( double latitudeParam,
                                  double longitudeParam,
                                  double altAglParam,
                                  boolean returnHomeParam,
                                  long hoverSecondsParam ) {
 
         System.out.println("Preparing to send to location...");
 
-        float absoluteMsl = system.getTelemetry().getPosition().blockingFirst().getAbsoluteAltitudeM();
-        System.out.println("absolute MSL (m): " + absoluteMsl);
+        float altMsl = getAltMsl((float) altAglParam);
+        System.out.println("setting altitude MSL to: " + altMsl);
 
-        float relativeAltitude = system.getTelemetry().getPosition().blockingFirst().getRelativeAltitudeM();
-        System.out.println("current Relative MSL (m): " + relativeAltitude);
+        double homeLat = system.getTelemetry().getPosition().blockingFirst().getLatitudeDeg();
+        double homeLon = system.getTelemetry().getPosition().blockingFirst().getLongitudeDeg();
 
-        float terrainOffset = absoluteMsl - relativeAltitude;
-        System.out.println("terrain offset: " + terrainOffset);
+        return goLocation(latitudeParam, longitudeParam, returnHomeParam, hoverSecondsParam, altMsl, homeLat, homeLon);
+    }
 
-        // We can use the last
-        // known relative altitude to set an approximate MSL. This will sometimes not be adequate as the
-        // terrain will change. For now it's good for a quick demo, but we'll want to eventually
-        // constantly adjust based on terrain altitude.
-        float altMsl = (float)altAglParam + terrainOffset;
-        System.out.println("setting altitude MSL to: " + altMsl);
 
-        system.getAction().gotoLocation(latitudeParam, longitudeParam, altMsl, 45.0F)
-                .doOnComplete( () -> {
+    public Completable goLocation( double latitudeParam, double longitudeParam, boolean returnHomeParam, long hoverSecondsParam, float altMsl, double homeLat, double homeLon ) {
+        return system.getAction().gotoLocation(latitudeParam, longitudeParam, altMsl, 45.0F)
+                .doOnComplete(() -> {
 
                     System.out.println("Moving to target location");
 
                 })
-                .doOnError( throwable -> {
+                .doOnError(throwable -> {
 
                     System.out.println("Failed to go to target: " + ((Action.ActionException) throwable).getCode());
 
@@ -169,11 +166,41 @@ private void sendToLocation( double latitudeParam,
                         .filter(pos -> (abs(pos.getLatitudeDeg() - latitudeParam) <= deltaSuccess && abs(pos.getLongitudeDeg() - longitudeParam) <= deltaSuccess))
                         .firstElement()
                         .ignoreElement()
-                )
-                .subscribe(() -> {
+                        .delay(hoverSecondsParam, TimeUnit.SECONDS) //hover if the value is marked
+                        .andThen(Completable.fromAction(() -> {
+
+                            //return home if the value is checked
+                            if (returnHomeParam) {
+                                system.getAction().gotoLocation(homeLat, homeLon, altMsl, 45.0F)
+                                        .doOnComplete(() -> {
+                                            System.out.println("Moving back to home");
+                                        })
+                                        .doOnError(throwable -> {
+                                            System.out.println("Failed to go home: " + ((Action.ActionException) throwable).getCode());
+                                        })
+                                        .subscribe();
+                            }
+                        }))
+                );
+    }
 
-                });
 
+    public float getAltMsl( float altAglParam ) {
+        float absoluteMsl = system.getTelemetry().getPosition().blockingFirst().getAbsoluteAltitudeM();
+        System.out.println("absolute MSL (m): " + absoluteMsl);
+
+        float relativeAltitude = system.getTelemetry().getPosition().blockingFirst().getRelativeAltitudeM();
+        System.out.println("current Relative MSL (m): " + relativeAltitude);
+
+        float terrainOffset = absoluteMsl - relativeAltitude;
+        System.out.println("terrain offset: " + terrainOffset);
+
+        // We can use the last
+        // known relative altitude to set an approximate MSL. This will sometimes not be adequate as the
+        // terrain will change. For now it's good for a quick demo, but we'll want to eventually
+        // constantly adjust based on terrain altitude.
+        float altMsl = altAglParam + terrainOffset;
+        return altMsl;
     }