550 allow different types of aircraft to connect

radio/app/customTypes.py

@@ -1,3 +1,4 @@
+from enum import Enum
 from typing import Any, Union
 
 from typing_extensions import NotRequired, TypedDict
@@ -37,3 +38,9 @@ class MotorTestAllValues(TypedDict):
 class SetFlightModeValueAndNumber(TypedDict):
     mode_number: int
     flight_mode: int
+
+
+class VehicleType(Enum):
+    UNKNOWN = 0
+    FIXED_WING = 1
+    MULTIROTOR = 2

radio/app/drone.py

@@ -22,8 +22,8 @@
 from app.controllers.navController import NavController
 from app.controllers.paramsController import ParamsController
 from app.controllers.rcController import RcController
-from app.customTypes import Number, Response
-from app.utils import commandAccepted
+from app.customTypes import Number, Response, VehicleType
+from app.utils import commandAccepted, getVehicleType
 
 # Constants
 
@@ -132,8 +132,11 @@ def __init__(
 
         self.sendConnectionStatusUpdate("Received heartbeat")
 
-        self.aircraft_type = initial_heartbeat.type
-        if self.aircraft_type not in (1, 2):
+        self.aircraft_type = getVehicleType(initial_heartbeat.type)
+        if self.aircraft_type not in (
+            VehicleType.FIXED_WING.value,
+            VehicleType.MULTIROTOR.value,
+        ):
             self.logger.error("Aircraft not plane or quadcopter")
             self.master.close()
             self.master = None

radio/app/utils.py

@@ -4,6 +4,8 @@
 from pymavlink import mavutil
 from serial.tools import list_ports
 
+from app.customTypes import VehicleType
+
 from . import socketio
 
 
@@ -207,3 +209,35 @@ def wpToMissionItemInt(
         wp.mission_type,
     )
     return wp_int
+
+
+FIXED_WING_TYPES = [
+    mavutil.mavlink.MAV_TYPE_FIXED_WING,
+    mavutil.mavlink.MAV_TYPE_VTOL_DUOROTOR,
+    mavutil.mavlink.MAV_TYPE_VTOL_QUADROTOR,
+    mavutil.mavlink.MAV_TYPE_VTOL_TILTROTOR,
+    # mavutil.mavlink.MAV_TYPE_VTOL_TAILSITTER,
+    # mavutil.mavlink.MAV_TYPE_VTOL_TILTWING,
+    mavutil.mavlink.MAV_TYPE_VTOL_RESERVED2,
+    mavutil.mavlink.MAV_TYPE_VTOL_RESERVED3,
+    mavutil.mavlink.MAV_TYPE_VTOL_RESERVED4,
+    mavutil.mavlink.MAV_TYPE_VTOL_RESERVED5,
+]
+
+MULTIROTOR_TYPES = [
+    mavutil.mavlink.MAV_TYPE_QUADROTOR,
+    mavutil.mavlink.MAV_TYPE_HEXAROTOR,
+    mavutil.mavlink.MAV_TYPE_OCTOROTOR,
+    mavutil.mavlink.MAV_TYPE_TRICOPTER,
+    mavutil.mavlink.MAV_TYPE_DODECAROTOR,
+    mavutil.mavlink.MAV_TYPE_ADSB,  # For cube orange (?)
+]
+
+
+def getVehicleType(typeId: int) -> int:
+    if typeId in FIXED_WING_TYPES:
+        return VehicleType.FIXED_WING.value
+    elif typeId in MULTIROTOR_TYPES:
+        return VehicleType.MULTIROTOR.value
+    else:
+        return VehicleType.UNKNOWN.value