Petal QGC Mission Server

The petal-qgc-mission-server is a Petal plugin that acts as a bridge between QGroundControl (QGC) and the Petal ecosystem. It simulates a MAVLink vehicle to receive mission plans, converts them into Petal-compatible mission graphs, and publishes them for execution by the LeafSDK.

Key Features

• MAVLink Adapter: Acts as a MAVLink server (TCP/UDP) to connect with QGC.
• Mission Translation: Converts MAVLink waypoints into Petal Mission Plans (JSON graph format).
• Silent Adapter Mode: Intercepts vehicle commands (Takeoff, Land, RTL) without interfering with the physical vehicle's direct link, while still updating internal state for QGC feedback.
• Rally & Fence Support: Handles QGC's Rally Point and Geofence protocols by accepting and discarding them (to satisfy protocol requirements) or forwarding them as needed.
• Redis Integration: Publishes mission plans and commands to Redis for consumption by LeafSDK.

Architecture

• plugin.py: Entry point, manages the QGCMissionAdapterPetal plugin lifecycle.
• mavlink_server.py: Handles the MAVLink connection and message routing.
• mission_handler.py: Manages the MAVLink mission protocol (upload/download) and translation.
• adapter_state.py: Tracks the minimal vehicle state required for QGC interaction (position, mode, battery).

Usage

1. Start the Service: The plugin is started by the Petal App Manager.
2. Connect QGC: Configure QGC to connect to the server's IP/Port (default TCP 5760 or as configured).
3. Upload Mission: Create a mission in QGC and upload it. The server will convert and publish it to Redis.
4. Monitor: QGC will receive status updates (position, current waypoint) from the server.

Documentation

• Architecture Overview: Detailed architecture analysis with class diagrams.
• Coordinate Systems & Conversion: GPS to local ENU coordinate conversion logic with diagrams.
• Mission Types Architecture: Comprehensive mission types, execution flow, and QGC translation.
• Mission Command Flow: How commands are handled including GoTo and continue-from-waypoint.
• Rally & Fence Implementation: Details on special mission types handling.
• MAVLink Methods Reference: Justification for MAVLink protocol methods.
• Redis Integration: Redis proxy usage and QGC mission adapter plan.
• Refactoring Walkthrough: History of simulation removal and adapter transition.