boards/kakute-f7-mini-v3: add selectable motor outputs

Signed-off-by: Onur Özkan <work@onurozkan.dev>

libs/kaptan-mavlink/src/arm.rs

@@ -0,0 +1,102 @@
+//! Narrow MAVLink arm/disarm command decoding.
+//!
+//! This module deliberately accepts no actuator-value or motor-test command.
+//! A board must pass accepted requests to its single actuator-state owner; this
+//! decoder has no access to output hardware.
+
+use mavlink::Message;
+
+use crate::{MavlinkFrame, message};
+
+/// A requested change to the vehicle's arming state.
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum ArmRequest {
+    /// Request the armed-idle state.
+    Arm,
+    /// Request electrically inactive outputs.
+    Disarm,
+}
+
+/// Decodes a targeted MAVLink `MAV_CMD_COMPONENT_ARM_DISARM` command.
+///
+/// Only `param1` values exactly equal to `0.0` (disarm) or `1.0` (arm) are
+/// accepted. Broadcast targets are intentionally rejected: an actuator command
+/// must name this vehicle and its component explicitly.
+pub fn decode_arm_request(
+    frame: &MavlinkFrame,
+    system_id: u8,
+    component_id: u8,
+) -> Option<ArmRequest> {
+    let message = message::MavMessage::parse(
+        mavlink::MavlinkVersion::V2,
+        frame.message_id(),
+        frame.payload(),
+    )
+    .ok()?;
+
+    let message::MavMessage::COMMAND_LONG(command) = message else {
+        return None;
+    };
+    if command.command != message::MavCmd::MAV_CMD_COMPONENT_ARM_DISARM
+        || command.target_system != system_id
+        || command.target_component != component_id
+    {
+        return None;
+    }
+
+    match command.param1 {
+        0.0 => Some(ArmRequest::Disarm),
+        1.0 => Some(ArmRequest::Arm),
+        _ => None,
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{ArmRequest, decode_arm_request};
+    use crate::{MavlinkFrame, message};
+
+    fn command(target_system: u8, target_component: u8, value: f32) -> MavlinkFrame {
+        let mut frame = MavlinkFrame::new();
+        frame.serialize_message_data(
+            message::MavHeader {
+                sequence: 0,
+                system_id: 42,
+                component_id: 7,
+            },
+            &message::COMMAND_LONG_DATA {
+                param1: value,
+                param2: 0.0,
+                param3: 0.0,
+                param4: 0.0,
+                param5: 0.0,
+                param6: 0.0,
+                param7: 0.0,
+                command: message::MavCmd::MAV_CMD_COMPONENT_ARM_DISARM,
+                target_system,
+                target_component,
+                confirmation: 0,
+            },
+        );
+        frame
+    }
+
+    #[test]
+    fn accepts_explicit_targeted_arm_and_disarm() {
+        assert_eq!(
+            decode_arm_request(&command(1, 1, 1.0), 1, 1),
+            Some(ArmRequest::Arm)
+        );
+        assert_eq!(
+            decode_arm_request(&command(1, 1, 0.0), 1, 1),
+            Some(ArmRequest::Disarm)
+        );
+    }
+
+    #[test]
+    fn rejects_broadcast_wrong_target_and_invalid_parameter() {
+        assert_eq!(decode_arm_request(&command(0, 0, 1.0), 1, 1), None);
+        assert_eq!(decode_arm_request(&command(2, 1, 1.0), 1, 1), None);
+        assert_eq!(decode_arm_request(&command(1, 1, 0.5), 1, 1), None);
+    }
+}

libs/kaptan-mavlink/src/encoder.rs

@@ -37,13 +37,17 @@ impl MavlinkEncoder {
         raw
     }
 
-    /// Encodes a Kaptan heartbeat.
-    pub fn heartbeat(&mut self, system_status: message::MavState) -> MavlinkFrame {
+    /// Encodes a Kaptan heartbeat with its current arming state.
+    pub fn heartbeat(&mut self, system_status: message::MavState, armed: bool) -> MavlinkFrame {
         let heartbeat = message::HEARTBEAT_DATA {
             custom_mode: 0,
             mavtype: message::MavType::MAV_TYPE_QUADROTOR,
             autopilot: message::MavAutopilot::MAV_AUTOPILOT_GENERIC,
-            base_mode: message::MavModeFlag::empty(),
+            base_mode: if armed {
+                message::MavModeFlag::MAV_MODE_FLAG_SAFETY_ARMED
+            } else {
+                message::MavModeFlag::empty()
+            },
             system_status,
             mavlink_version: 3,
         };
@@ -51,6 +55,15 @@ impl MavlinkEncoder {
         self.serialize(&heartbeat)
     }
 
+    /// Acknowledges a supported MAVLink command.
+    pub fn command_ack(
+        &mut self,
+        command: message::MavCmd,
+        result: message::MavResult,
+    ) -> MavlinkFrame {
+        self.serialize(&message::COMMAND_ACK_DATA { command, result })
+    }
+
     /// Encodes a standard `RAW_IMU` frame.
     pub fn raw_imu_snapshot(&mut self, snapshot: &ImuSnapshot) -> MavlinkFrame {
         let raw_imu = message::RAW_IMU_DATA {
@@ -80,7 +93,7 @@ mod tests {
     #[test]
     fn heartbeat_has_the_configured_sender_and_sequence() {
         let mut encoder = MavlinkEncoder::new(42, 7);
-        let frame = encoder.heartbeat(MavState::MAV_STATE_STANDBY);
+        let frame = encoder.heartbeat(MavState::MAV_STATE_STANDBY, false);
         let bytes = frame.raw_bytes();
 
         assert_eq!(bytes[0], 0xFD);
@@ -95,7 +108,7 @@ mod tests {
     #[test]
     fn heartbeat_preserves_the_requested_health_state() {
         let mut encoder = MavlinkEncoder::new(1, 1);
-        let frame = encoder.heartbeat(MavState::MAV_STATE_CRITICAL);
+        let frame = encoder.heartbeat(MavState::MAV_STATE_CRITICAL, false);
 
         assert_eq!(frame.raw_bytes()[17], MavState::MAV_STATE_CRITICAL as u8);
     }
@@ -114,4 +127,12 @@ mod tests {
 
         assert_eq!(&frame.raw_bytes()[7..10], &[27, 0, 0]);
     }
+
+    #[test]
+    fn armed_heartbeat_sets_the_standard_armed_flag() {
+        let mut encoder = MavlinkEncoder::new(1, 1);
+        let frame = encoder.heartbeat(MavState::MAV_STATE_ACTIVE, true);
+
+        assert_ne!(frame.raw_bytes()[16] & 0x80, 0);
+    }
 }

libs/kaptan-mavlink/src/lib.rs

@@ -2,6 +2,8 @@
 
 #![no_std]
 
+/// Narrow MAVLink arm/disarm command decoding.
+pub mod arm;
 /// MAVLink frame encoding API for boards.
 pub mod encoder;
 /// Serial-byte MAVLink receive API for boards.

libs/kaptan-mavlink/src/transmitter.rs

@@ -117,13 +117,13 @@ mod tests {
         transmitter
             .send_frame(
                 FrameClass::BestEffort,
-                encoder.heartbeat(MavState::MAV_STATE_STANDBY),
+                encoder.heartbeat(MavState::MAV_STATE_STANDBY, false),
             )
             .unwrap();
         transmitter
             .send_frame(
                 FrameClass::BestEffort,
-                encoder.heartbeat(MavState::MAV_STATE_STANDBY),
+                encoder.heartbeat(MavState::MAV_STATE_STANDBY, false),
             )
             .unwrap();
         assert!(transmitter.transmit.is_active());