Update mavftp - #2018
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Pull request overview
This PR updates the project to use the upstream MAVFTP implementation (from pymavlink) and aligns related data-model and UI behavior with ArduPlane-specific frame-class semantics, while also syncing ArduPilot device-ID decoding utilities.
Changes:
- Replace many legacy MAVFTP constants/structures with upstream-aligned enums/types (
FtpError,DirectoryEntry) and update tests/callers accordingly. - Adjust frame-class handling so ArduPlane can treat
"Undefined"as valid and prefersQ_FRAME_*parameters where applicable. - Introduce / sync ArduPilot’s device-id decode script into the repo and update workflows and import sites.
Reviewed changes
Copilot reviewed 21 out of 22 changed files in this pull request and generated 11 comments.
Show a summary per file
| File | Description |
|---|---|
| tests/unit_data_model_vehicle_components_validation_constants.py | Updates expectations around "Undefined" frame class for ArduPlane only. |
| tests/test_data_model_vehicle_components_validation.py | Adds coverage for accepting "Undefined" frame class on ArduPlane. |
| tests/test_backend_mavftp_aux.py | Migrates tests from integer error constants to FtpError. |
| tests/test_backend_mavftp.py | Updates/extends MAVFTP tests for new error handling and callback behavior. |
| tests/test_backend_flightcontroller_sitl.py | Updates error handling to use FtpError values. |
| tests/test_backend_flightcontroller_files.py | Updates directory listing mocks to use DirectoryEntry. |
| tests/test_backend_flightcontroller_factory_mavftp.py | Improves MAVFTP factory tests by mocking ResetSessions ACK behavior. |
| tests/test_backend_flightcontroller_business_logic.py | Adds ArduPlane-specific preference for Q_FRAME_* in get_frame_info. |
| pyproject.toml | Excludes synced ArduPilot device-id decoder file from Ruff. |
| ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/00_default.param | Syncs/updates ArduPlane default params (large template update). |
| ardupilot_methodic_configurator/log_analysis/decode_devid_lib.py | Updates/syncs device-id decoding logic and CLI behavior. |
| ardupilot_methodic_configurator/log_analysis/data_model_vehicle_overview_sensor_rules.py | Switches imports to the new synced decode_devid module and adapts to new return type. |
| ardupilot_methodic_configurator/data_model_vehicle_components_validation.py | Allows "Undefined" frame class only for ArduPlane in UI choices. |
| ardupilot_methodic_configurator/data_model_vehicle_components_import.py | Passes firmware type into get_frame_info for ArduPlane behavior. |
| ardupilot_methodic_configurator/configuration_steps_ArduPlane.json | Adds derived-parameter rules for Q_FRAME_CLASS and autoimport hints. |
| ardupilot_methodic_configurator/backend_mavftp.py | Major MAVFTP refactor to upstream structures (pymavlink.mavftp_op), new error enum, listing entries, and new read/messaging logic. |
| ardupilot_methodic_configurator/backend_flightcontroller_params.py | Updates success checks to use FtpError.Success. |
| ardupilot_methodic_configurator/backend_flightcontroller_files.py | Updates MAVFTP integration for new error codes and directory listing type. |
| ardupilot_methodic_configurator/backend_flightcontroller_commands.py | Ensures get_frame_info receives detected vehicle_type. |
| ardupilot_methodic_configurator/backend_flightcontroller_business_logic.py | Adds ArduPlane-specific Q_FRAME_* preference in get_frame_info. |
| ardupilot_methodic_configurator/main.py | Sets vehicle type/version earlier so frame-class UI choices derive correctly. |
| .github/workflows/update_flightcontroller_ids.yml | Extends sync workflow to copy decode_devid.py and updates commit message/body. |
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| def __init__(self) -> None: |
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| try: | ||
| size_int = int(size) | ||
| size = int(size_str) | ||
| except (ValueError, TypeError, OverflowError): | ||
| logging.error("Invalid file size: %s", size) | ||
| size_int = 0 | ||
| self.directory_listing[name] = size_int | ||
| self.total_size += size_int | ||
| logging.info(" %s\t%u", name, size_int) | ||
| logging.error("Invalid file size: %s", size_str) | ||
| size = 0 | ||
| self.list_temp_result.append( | ||
| DirectoryEntry(name=name, is_dir=False, size_b=size) |
| self.done = False | ||
|
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| logging.info( | ||
| "Getting %s starting at %u reading %u bytes", |
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| @@ -608,37 +735,69 @@ def cmd_get( | |||
| self.burst_size = int(self.ftp_settings.burst_read_size) | |||
| if self.burst_size < 1 or self.burst_size > 239: | |||
| self.burst_size = 239 | |||
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| def __handle_open_ro_reply(self, op: FTP_OP, _m: object) -> MAVFTPReturn: | ||
| def __handle_open_ro_reply(self, op: FTP_OP, _m) -> MAVFTPReturn: | ||
| """Handle OP_OpenFileRO reply.""" | ||
| if op.opcode == OP_Ack: | ||
| if self.filename is None: | ||
| return MAVFTPReturn("OpenFileRO", ERR_FileNotFound) | ||
| return MAVFTPReturn("OpenFileRO", FtpError.FileNotFound) |
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| return True | ||
| if self.op_start is None: | ||
| return True | ||
| if len(self.read_gaps) == 0 and ( | ||
| self.reached_eof or self.read_total >= self.requested_size |
| op_ret_name = operation_name or operation_name_dict.get(op.req_opcode, "Unknown") | ||
| op_ret_name = operation_name or operation_name_dict.get( | ||
| op.req_opcode, "Unknown" | ||
| ) |
| elif error_code == FtpError.FailErrno: | ||
| error_code = FtpError.NoFilesystemErrorInPayload | ||
| elif error_code not in [ | ||
| FtpError.Fail, |
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| invalid_error_code = error_code | ||
| error_code = ERR_InvalidErrorCode | ||
| elif op.payload is not None and op.payload[0] == ERR_FailErrno and len_payload == 2: | ||
| error_code = FtpError.InvalidErrorCode | ||
| elif ( | ||
| op.payload is not None | ||
| and op.payload[0] == FtpError.FailErrno | ||
| and len_payload == 2 |
| type=float, | ||
| metavar="setting_value", | ||
| help="MAVFTP internal configuration parameter value.", | ||
| ) |
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Replace the local device ID decoder with ArduPilot's upstream Tools/scripts/decode_devid.py. Update sensor-rule integration for the upstream decoder API, preserve the copied-file disclaimer in the update workflow, and exclude the synchronized file from project-specific Ruff checks.
ArduPlane stores multicopter frame settings in Q_FRAME_CLASS and Q_FRAME_TYPE, unlike ArduCopter. Pass the vehicle type through frame extraction so ArduPlane explicitly prefers those parameters. Initialize the detected firmware type before importing parameters and creating component-editor widgets, ensuring the correct frame-class choices are used. Allow Undefined as a valid displayable frame class for normal fixed-wing ArduPlane configurations without a multicopter frame. Add regression coverage for parameter precedence and Plane validation.
Replace the local MAVFTP backend with pymavlink's implementation and adapt consumers to the FtpError and DirectoryEntry APIs. Prevent callback-owned downloads from writing virtual remote paths as local files, and update the related tests and fixtures.
amilcarlucas
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Description
Use upstream mavftp from pymavlink instead of out local forked copy
Thanks to @peterbarker this speeds up parameter download from 4 seconds to 40ms :)
Checklist
git commit --signoff)Testing
Describe how you tested these changes: