add mavlink port set config options for tx backpack

html/scan.js

@@ -6,6 +6,7 @@ function _(el) {
 
 function init() {
     initAat();
+    initMavLink();
 
     // sends XMLHttpRequest, so do it last
     initOptions();
@@ -25,6 +26,27 @@ function initAat() {
     );
 }
 
+function initMavLink() {
+    // Fetch initial MavLink configuration
+    const xmlhttp = new XMLHttpRequest();
+    xmlhttp.onreadystatechange = function() {
+        if (this.readyState == 4 && this.status == 200) {
+            const data = JSON.parse(this.responseText);
+            updateMavLinkConfig(data);
+
+            // Start periodic updates of MavLink stats
+            updateMavLinkStats();
+            setInterval(updateMavLinkStats, 1000);
+
+            const resetButton = _('mavlink_reset_defaults');
+            if (resetButton) {
+                resetButton.addEventListener('click', resetMavLinkDefaults);
+            }
+        }
+    };
+    xmlhttp.open('GET', '/mavlink', true);
+    xmlhttp.send();
+}
 function initOptions() {
     const xmlhttp = new XMLHttpRequest();
     xmlhttp.onreadystatechange = function() {
@@ -38,6 +60,63 @@ function initOptions() {
     xmlhttp.send();
 }
 
+function updateMavLinkConfig(data) {
+    _('mavlink_listen_port').value = data.ports.listen;
+    _('mavlink_send_port').value = data.ports.send;
+}
+
+function updateMavLinkStats() {
+    const xmlhttp = new XMLHttpRequest();
+    xmlhttp.onreadystatechange = function() {
+        if (this.readyState == 4 && this.status == 200) {
+            const data = JSON.parse(this.responseText);
+
+            // Update Stats
+            _('mavlink_gcs_ip').textContent = data.ip.gcs;
+            _('mavlink_packets_down').textContent = data.counters.packets_down;
+            _('mavlink_packets_up').textContent = data.counters.packets_up;
+            _('mavlink_drops_down').textContent = data.counters.drops_down;
+            _('mavlink_overflows_down').textContent = data.counters.overflows_down;
+        }
+    };
+    xmlhttp.open('GET', '/mavlink', true);
+    xmlhttp.send();
+}
+
+function resetMavLinkDefaults() {
+    const defaultSendPort = 14550;
+    const defaultListenPort = 14555;
+
+    // Update the input fields
+    _('mavlink_listen_port').value = defaultListenPort;
+    _('mavlink_send_port').value = defaultSendPort;
+
+    // Send the new values to the server
+    const xmlhttp = new XMLHttpRequest();
+    xmlhttp.onreadystatechange = function() {
+        if (this.readyState == 4) {
+            if (this.status == 200) {
+                cuteAlert({
+                    type: "success",
+                    title: "Default Settings Applied",
+                    message: "MavLink ports have been reset to default values."
+                });
+                // Refresh the MavLink stats to reflect the changes
+                updateMavLinkStats();
+            } else {
+                cuteAlert({
+                    type: "error",
+                    title: "Error",
+                    message: "Failed to apply default settings. Please try again."
+                });
+            }
+        }
+    };
+    xmlhttp.open('POST', '/setmavlink', true);
+    xmlhttp.setRequestHeader('Content-type', 'application/x-www-form-urlencoded');
+    xmlhttp.send(`listen=${defaultListenPort}&send=${defaultSendPort}`);
+}
+
 function updateConfig(data) {
     let config = data.config;
     if (config.mode==="STA") {

html/txbp_index.html

@@ -25,6 +25,7 @@ <h1><b>ExpressLRS</b></h1>
 				<li id="tx_tab" class="mui--is-active"><a data-mui-toggle="tab" data-mui-controls="pane-justified-1">TX</a></li>
 				<li><a data-mui-toggle="tab" data-mui-controls="pane-justified-2">Backpack</a></li>
 				<li><a data-mui-toggle="tab" data-mui-controls="pane-justified-3">Network</a></li>
+				<li><a data-mui-toggle="tab" data-mui-controls="pane-justified-4">MavLink</a></li>
 			</ul>
 
 			<div class="mui-tabs__pane mui--is-active" id="pane-justified-1">
@@ -97,6 +98,54 @@ <h2>Home Network: <span id="ssid"></span></h2>
 					<a id="access" href="#" class="mui-btn mui-btn--primary">Disconnect</a>
 				</div>
 			</div>
+
+			<div class="mui-tabs__pane" id="pane-justified-4">
+				<h2>MavLink Configuration</h2>
+				<form action="/setmavlink" id="mavlink_form" method="POST" autocomplete="off" class="mui-form">
+					<div class="mui-textfield">
+						Send Port
+							<input type="number" id="mavlink_send_port" name="send" placeholder="Send Port">
+						</div>
+					<div class="mui-textfield">
+					Listen Port
+						<input type="number" id="mavlink_listen_port" name="listen" placeholder="Listen Port">
+					</div>
+					<!-- I wanted to avoid adding css -->
+					<table> 
+						<tr>
+							<td>
+								<input type="submit" value="Save Configuration" class="mui-btn mui-btn--primary">
+							</td>
+							<td>
+								<button id="mavlink_reset_defaults" class="mui-btn mui-btn--primary">Reset Defaults</button>
+							</td>
+						</tr>
+					</table>
+				</form>
+				<h3>MavLink Statistics</h3>
+				<table class="mui-table">
+					<tr>
+						<td>Packets Downlink:</td>
+						<td id="mavlink_packets_down"></td>
+					</tr>
+					<tr>
+						<td>Packets Uplink:</td>
+						<td id="mavlink_packets_up"></td>
+					</tr>
+					<tr>
+						<td>Drops Downlink:</td>
+						<td id="mavlink_drops_down"></td>
+					</tr>
+					<tr>
+						<td>Overflows Downlink:</td>
+						<td id="mavlink_overflows_down"></td>
+					</tr>
+					<tr>
+						<td>GCS IP Adresses</Address>:</td>
+						<td id="mavlink_gcs_ip"></td>
+					</tr>
+				</table>
+			</div>
 		</div>
 	</div>
 	<footer>

lib/MAVLink/MAVLink.h

@@ -1,10 +1,6 @@
 #if defined(MAVLINK_ENABLED)
 #include "common/mavlink.h"
 
-// This is the port that we will listen for mavlink packets on
-constexpr uint16_t MAVLINK_PORT_LISTEN = 14555;
-// This is the port that we will send mavlink packets to
-constexpr uint16_t MAVLINK_PORT_SEND = 14550;
 // Size of the buffer that we will use to store mavlink packets in units of mavlink_message_t
 constexpr size_t MAVLINK_BUF_SIZE = 16;
 // Threshold at which we will flush the buffer

lib/WIFI/devWIFI.cpp

@@ -228,28 +228,33 @@ static void WebUpdateSendNetworks(AsyncWebServerRequest *request)
   }
 }
 
-static void sendResponse(AsyncWebServerRequest *request, const String &msg, WiFiMode_t mode) {
-  AsyncWebServerResponse *response = request->beginResponse(200, "text/plain", msg);
+static void sendResponse(AsyncWebServerRequest *request, const String &msg, const String &type = "text/plain") {
+  AsyncWebServerResponse *response = request->beginResponse(200, type, msg);
   response->addHeader("Connection", "close");
   request->send(response);
   request->client()->close();
   changeTime = millis();
+}
+
+static void changeWifiMode(WiFiMode_t mode){
   changeMode = mode;
 }
 
 static void WebUpdateAccessPoint(AsyncWebServerRequest *request)
 {
   DBGLN("Starting Access Point");
   String msg = String("Access Point starting, please connect to access point '") + wifi_ap_ssid + "' with password '" + wifi_ap_password + "'";
-  sendResponse(request, msg, WIFI_AP);
+  sendResponse(request, msg);
+  changeWifiMode(WIFI_AP);
 }
 
 static void WebUpdateConnect(AsyncWebServerRequest *request)
 {
   DBGLN("Connecting to home network");
   String msg = String("Connecting to network '") + station_ssid + "', connect to http://" +
     myHostname + ".local from a browser on that network";
-  sendResponse(request, msg, WIFI_STA);
+  sendResponse(request, msg);
+  changeWifiMode(WIFI_STA);
 }
 
 static void WebUpdateSetHome(AsyncWebServerRequest *request)
@@ -280,13 +285,16 @@ static void WebUpdateForget(AsyncWebServerRequest *request)
     strcpy(station_ssid, firmwareOptions.home_wifi_ssid);
     strcpy(station_password, firmwareOptions.home_wifi_password);
     String msg = String("Temporary network forgotten, attempting to connect to network '") + station_ssid + "'";
-    sendResponse(request, msg, WIFI_STA);
+    sendResponse(request, msg);
+    changeWifiMode(WIFI_STA);
+
   }
   else {
     station_ssid[0] = 0;
     station_password[0] = 0;
     String msg = String("Home network forgotten, please connect to access point '") + wifi_ap_ssid + "' with password '" + wifi_ap_password + "'";
-    sendResponse(request, msg, WIFI_AP);
+    sendResponse(request, msg);
+    changeWifiMode(WIFI_AP);
   }
 }
 
@@ -465,8 +473,8 @@ static void WebMAVLinkHandler(AsyncWebServerRequest *request)
   json["counters"]["packets_up"] = stats->packets_uplink;
   json["counters"]["drops_down"] = stats->drops_downlink;
   json["counters"]["overflows_down"] = stats->overflows_downlink;
-  json["ports"]["listen"] = MAVLINK_PORT_LISTEN;
-  json["ports"]["send"] = MAVLINK_PORT_SEND;
+  json["ports"]["listen"] = config.GetMavlinkListenPort();
+  json["ports"]["send"] = config.GetMavlinkSendPort();
   if (gcsIPSet) {
     json["ip"]["gcs"] = gcsIP.toString();
   } else {
@@ -478,6 +486,35 @@ static void WebMAVLinkHandler(AsyncWebServerRequest *request)
   serializeJson(json, *response);
   request->send(response);
 }
+
+static void WebUpdateSetMavLink(AsyncWebServerRequest *request)
+{
+    uint16_t listen_port = request->arg("listen").toInt();
+    uint16_t send_port = request->arg("send").toInt();
+
+    DBGLN("Setting MavLink configuration: listen=%d, send=%d", listen_port, send_port);
+
+    config.SetMavlinkListenPort(listen_port);
+    config.SetMavlinkSendPort(send_port);
+    config.SetWiFiService(WIFI_SERVICE_MAVLINK_TX);
+    config.Commit();
+
+    // Restart MavLink UDP service
+    mavlinkUDP.stop();
+    mavlinkUDP.begin(config.GetMavlinkListenPort());
+
+    String response = F(
+      "<html><head>"
+      "<meta http-equiv='refresh' content='2;url=/'>"
+      "<title>MavLink Settings Updated</title>"
+      "</head><body>"
+      "<h1>MavLink Settings Updated Successfully</h1>"
+      "<p>Redirecting back to the main page in 2 seconds...</p>"
+      "</body></html>"
+    );
+
+    sendResponse(request, response, "text/html");
+}
 #endif
 
 static void wifiOff()
@@ -600,6 +637,9 @@ static void startServices()
   server.on("/config", HTTP_GET, GetConfiguration);
   server.on("/networks.json", WebUpdateSendNetworks);
   server.on("/sethome", WebUpdateSetHome);
+  #if defined(MAVLINK_ENABLED)
+  server.on("/setmavlink", WebUpdateSetMavLink);
+  #endif
   server.on("/forget", WebUpdateForget);
   server.on("/connect", WebUpdateConnect);
   server.on("/access", WebUpdateAccessPoint);
@@ -632,7 +672,7 @@ static void startServices()
 
   startMDNS();
 #if defined(MAVLINK_ENABLED)
-  mavlinkUDP.begin(MAVLINK_PORT_LISTEN);
+  mavlinkUDP.begin(config.GetMavlinkListenPort());
 #endif
 
   servicesStarted = true;
@@ -748,7 +788,7 @@ static void HandleWebUpdate()
           remote = WiFi.broadcastIP();
         }
 
-        mavlinkUDP.beginPacket(remote, MAVLINK_PORT_SEND);
+        mavlinkUDP.beginPacket(remote, config.GetMavlinkSendPort());
         mavlink_message_t* msgQueue = mavlink.GetQueuedMsgs();
         for (uint8_t i = 0; i < mavlink.GetQueuedMsgCount(); i++)
         {

lib/config/config.cpp

@@ -52,6 +52,8 @@ TxBackpackConfig::SetDefaults()
     m_config.password[0] = 0;
     memset(m_config.address, 0, 6);
     m_config.wifiService = WIFI_SERVICE_UPDATE;
+    m_config.mavlinkListenPort = 14555;  // Default MavLink listen port
+    m_config.mavlinkSendPort = 14550;    // Default MavLink send port
     m_modified = true;
     Commit();
 }
@@ -97,6 +99,19 @@ TxBackpackConfig::SetTelemMode(telem_mode_t mode)
     m_config.telemMode = mode;
     m_modified = true;
 }
+void
+TxBackpackConfig::SetMavlinkListenPort(uint16_t port)
+{
+    m_config.mavlinkListenPort = port;
+    m_modified = true;
+}
+
+void
+TxBackpackConfig::SetMavlinkSendPort(uint16_t port)
+{
+    m_config.mavlinkSendPort = port;
+    m_modified = true;
+}
 #endif
 
 /////////////////////////////////////////////////////
@@ -297,6 +312,7 @@ TimerBackpackConfig::Commit()
     if (!m_modified)
     {
         // No changes
+        DBGLN("No Config Changes Detected")
         return;
     }
     // Write the struct to eeprom

lib/config/config.h

@@ -7,7 +7,7 @@
 #define VRX_BACKPACK_CONFIG_MAGIC   (0b10 << 30)
 #define TIMER_BACKPACK_CONFIG_MAGIC (0b11 << 30)
 
-#define TX_BACKPACK_CONFIG_VERSION      3
+#define TX_BACKPACK_CONFIG_VERSION      4
 #define VRX_BACKPACK_CONFIG_VERSION     3
 #define TIMER_BACKPACK_CONFIG_VERSION   3
 
@@ -34,6 +34,8 @@ typedef struct {
     uint8_t           address[6];
     wifi_service_t    wifiService;
     telem_mode_t      telemMode;
+    uint16_t          mavlinkListenPort;
+    uint16_t          mavlinkSendPort;
 } tx_backpack_config_t;
 
 class TxBackpackConfig
@@ -50,6 +52,8 @@ class TxBackpackConfig
     uint8_t *GetGroupAddress() { return m_config.address; }
     wifi_service_t GetWiFiService() { return m_config.wifiService; }
     telem_mode_t GetTelemMode() { return m_config.telemMode; }
+    uint16_t GetMavlinkListenPort() const { return m_config.mavlinkListenPort; }
+    uint16_t GetMavlinkSendPort() const { return m_config.mavlinkSendPort; }
 
     // Setters
     void SetStorageProvider(ELRS_EEPROM *eeprom);
@@ -60,6 +64,8 @@ class TxBackpackConfig
     void SetGroupAddress(const uint8_t address[6]);
     void SetWiFiService(wifi_service_t service);
     void SetTelemMode(telem_mode_t mode);
+    void SetMavlinkListenPort(uint16_t port);
+    void SetMavlinkSendPort(uint16_t port);
 
 private:
     tx_backpack_config_t    m_config;