Updated RTL

flutter_app/lib/command_constructors/return_to_launch_constructor.dart

@@ -1,43 +1,37 @@
 import 'package:dart_mavlink/dialects/common.dart';
+import 'package:dart_mavlink/mavlink.dart';
 
 /// Constructs a MissionItem command to return to launch using MAV_CMD_NAV_RETURN_TO_LAUNCH (20).
 ///
 /// @sequence The sequence number for the MAVLink frame.
 /// @systemId The MAVLink system ID of the vehicle (normally "1").
 /// @componentId The MAVLink component ID (normally "0").
-/// @latitude The latitude of the launchpad (Defaults to where it was armed).
-/// @longitude The longitude of the launchpad (Defaults to where it was armed).
-/// @altitude The altitude of the waypoint (Defaults to 15m)
 /// @param1 Unused
 /// @param2 Unused
 /// @param3 Unused
 /// @param4 Unused
+/// @param5 Unused
+/// @param6 Unused
+/// @param7 Unused
 ///
-/// @return A MissionItem representing the reutrn to launch command.
+/// @return A MavlinkFrame representing the reutrn to launch command.
 
-MissionItem returnToLaunch(int sequence, int systemID, int componentID,
-    {double latitude = 0.0,
-    double longitude = 0.0,
-    double altitude = 15.0,
-    double param1 = 0,
-    double param2 = 0,
-    double param3 = 0,
-    double param4 = 0}) {
-  var missionItem = MissionItem(
-      targetSystem: systemID,
-      targetComponent: componentID,
-      seq: sequence,
-      frame: mavFrameGlobalRelativeAlt,
-      command: mavCmdNavReturnToLaunch,
-      current: 1,
-      autocontinue: 1,
-      param1: param1,
-      param2: param2,
-      param3: param3,
-      param4: param4,
-      x: latitude,
-      y: longitude,
-      z: altitude,
-      missionType: 0);
-  return missionItem;
+MavlinkFrame returnToLaunch(int sequence, int systemID, int componentID) {
+  var commandLong = CommandLong(
+    targetSystem: systemID,
+    targetComponent: componentID,
+    command: mavCmdNavReturnToLaunch,
+    confirmation: 0,
+    param1: 0,
+    param2: 0,
+    param3: 0,
+    param4: 0,
+    param5: 0,
+    param6: 0,
+    param7: 0,
+  );
+
+  var frm = MavlinkFrame.v2(sequence, systemID, componentID, commandLong);
+
+  return frm;
 }

flutter_app/lib/modules/return_to_launch.dart

@@ -1,28 +1,24 @@
 import 'package:dart_mavlink/dialects/common.dart';
 import 'package:dart_mavlink/mavlink.dart';
+import 'package:imacs/command_constructors/return_to_launch_constructor.dart';
 import 'package:imacs/modules/mavlink_communication.dart';
 import 'dart:developer';
 
 const String moduleName = "Return To Launch";
 
 class ReturnToLaunch {
   final MavlinkCommunication comm;
-  final MissionItem returnToLaunchConstructor;
 
   // Requires both the constructor (Mission Item) and comm
-  ReturnToLaunch({required this.comm, required this.returnToLaunchConstructor});
+  ReturnToLaunch({required this.comm});
 
   // Skips the queues and forces the drone to return
-  void returnNoQueue() async {
+  void returnNoQueue(int systemID, int componentID) async {
     if (comm.connectionType == MavlinkCommunicationType.tcp) {
       await comm.tcpSocketInitializationFlag.future;
     }
 
-    var frame = MavlinkFrame.v2(
-        returnToLaunchConstructor.seq,
-        returnToLaunchConstructor.targetSystem,
-        returnToLaunchConstructor.targetComponent,
-        returnToLaunchConstructor);
+    var frame = returnToLaunch(comm.sequence, systemID, componentID);
 
     comm.sequence++;
     comm.write(frame);

flutter_app/lib/widgets/return_to_launch_widget.dart

@@ -3,17 +3,23 @@ import 'package:imacs/modules/return_to_launch.dart';
 
 class ReturnToLaunchButton extends StatelessWidget {
   final ReturnToLaunch returnToLaunchCommand;
+  final int systemID;
+  final int componentID;
 
   // Needs the ReturnToLaunch object from the return_to_launch dart
-  const ReturnToLaunchButton({Key? key, required this.returnToLaunchCommand})
+  const ReturnToLaunchButton(
+      {Key? key,
+      required this.returnToLaunchCommand,
+      required this.systemID,
+      required this.componentID})
       : super(key: key);
 
   // Returns a button that tells the drone to return to launch
   @override
   Widget build(BuildContext context) {
     return ElevatedButton(
         onPressed: () {
-          returnToLaunchCommand.returnNoQueue();
+          returnToLaunchCommand.returnNoQueue(systemID, componentID);
         },
         child: const Text("Return To Launch"));
   }

flutter_app/test/unit/return_to_launch_constructor_test.dart

@@ -17,23 +17,16 @@ void main() {
 
   test("Return To Launch", () {
     const createReturnToLaunchCommandNumber = mavCmdNavReturnToLaunch;
-    const latitude = 47.938;
-    const longitude = 8.545;
-    const altitude = 15.0;
 
     var parser = MavlinkParser(dialect);
     parser.stream.listen((MavlinkFrame frm) {
       if (frm.message is MissionItem) {
         var mi = frm.message as MissionItem;
         expect(mi.command, equals(createReturnToLaunchCommandNumber));
-        expect(mi.x, equals(latitude));
-        expect(mi.y, equals(longitude));
-        expect(mi.z, equals(altitude));
       }
     });
 
-    var returnToLaunchCommand = returnToLaunch(sequence, systemID, componentID,
-        latitude: latitude, longitude: longitude, altitude: altitude);
+    var returnToLaunchCommand = returnToLaunch(sequence, systemID, componentID);
 
     parser.parse(returnToLaunchCommand.serialize().buffer.asUint8List());
   });

flutter_app/test/widget/return_to_launch_widget_test.dart

@@ -11,14 +11,15 @@ void main() {
         (WidgetTester tester) async {
       final mavlinkCommunication = MavlinkCommunication(
           MavlinkCommunicationType.tcp, '127.0.0.1', 14550);
-      final ReturnToLaunch command = ReturnToLaunch(
-          comm: mavlinkCommunication,
-          returnToLaunchConstructor: returnToLaunch(0, 1, 0));
+      final ReturnToLaunch command = ReturnToLaunch(comm: mavlinkCommunication);
 
       // Tests to see if the button renders
       await tester.pumpWidget(MaterialApp(
           home: Scaffold(
-              body: ReturnToLaunchButton(returnToLaunchCommand: command))));
+              body: ReturnToLaunchButton(
+                  returnToLaunchCommand: command,
+                  systemID: 1,
+                  componentID: 0))));
 
       // Waits for all frames and animations to settle
       await tester.pumpAndSettle();
@@ -27,6 +28,24 @@ void main() {
       expect(find.text("Return To Launch"), findsOneWidget);
     });
 
-    testWidgets("Button sends MavLink command", (WidgetTester tester) async {});
+    testWidgets("Button sends MavLink command", (WidgetTester tester) async {
+      final mavlinkCommunication = MavlinkCommunication(
+          MavlinkCommunicationType.tcp, '127.0.0.1', 14550);
+      final ReturnToLaunch command = ReturnToLaunch(comm: mavlinkCommunication);
+
+      // Tests to see if the button renders
+      await tester.pumpWidget(MaterialApp(
+          home: Scaffold(
+              body: ReturnToLaunchButton(
+                  returnToLaunchCommand: command,
+                  systemID: 1,
+                  componentID: 0))));
+
+      await tester.pumpAndSettle();
+      await tester.tap(find.byType(ReturnToLaunchButton));
+      await tester.pumpAndSettle();
+
+      expect(find.text("Return to Launch Command Sent"), findsOneWidget);
+    });
   });
 }