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Chat: implemented get_vehicle_state function's definition #6

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Chat: implemented get_vehicle_state function's definition #6

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23 changes: 22 additions & 1 deletion Chat/index.html
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Original file line number Diff line number Diff line change
Expand Up @@ -524,7 +524,7 @@ <h1><a href="" style="color: #000000; text-decoration:none;">Chat</a></h1>
// fallthrough
case "get_vehicle_state":
// Get the vehicle state including armed status and (flight) mode
// fallthrough
return get_vehicle_state();
case "get_location_plus_offset":
// Calculate the latitude and longitude given an existing latitude and longitude and distances (in meters) North and East
// fallthrough
Expand Down Expand Up @@ -641,6 +641,26 @@ <h1><a href="" style="color: #000000; text-decoration:none;">Chat</a></h1>
return new Date().toLocaleString('en-US', options);
}


//get vehicle state
function get_vehicle_state(){
//get latest HEARTBEAT message
const heartbeat_msg = mavlink_store.get_latest_message(0);
//sanity check
if (!heartbeat_msg || !heartbeat_msg.hasOwnProperty("base_mode") || !heartbeat_msg.hasOwnProperty("custom_mode")) {
return "unknown because no HEARTBEAT message has been received from the vehicle";
}
//get the armed state flag by applying mask to base_model property
const armed_flag = (heartbeat_msg["base_mode"] & mavlink20.MAV_MODE_FLAG_SAFETY_ARMED) > 0;
//get mode number from custom_mode property
const mode_number = heartbeat_msg["custom_mode"];

return {
"armed": armed_flag,
"mode": mode_number
}
}

class EventHandler extends EventEmitter {
constructor(client) {
super()
Expand Down Expand Up @@ -713,6 +733,7 @@ <h1><a href="" style="color: #000000; text-decoration:none;">Chat</a></h1>
try {
const toolOutputs = data.required_action.submit_tool_outputs.tool_calls.map((toolCall) => {
let output = handle_function_call(toolCall.function.name, toolCall.function.arguments)
output = JSON.stringify(output);
add_text_to_debug("fn:" + toolCall.function.name + " output:" + output)
return {
tool_call_id: toolCall.id,
Expand Down