V2

SUB Control/app.py

@@ -71,6 +71,11 @@ class MavlinkWorker:
         self.axes = Axes()
         self.output_axes = Axes()
         self.last_control_at = 0.0
+        # Enabled by the web bridge only; the legacy Tk frontend is unchanged.
+        self.require_input_lease = False
+        self.last_input_at = 0.0
+        self.last_input_sequence = -1
+        self.input_timeout = 1.0
         # Smooth ESC commands without adding a perceptible one-second lag.
         # At 20 Hz this produces five small steps from neutral to full command.
         self.ramp_seconds = 0.25
@@ -200,6 +205,10 @@ class MavlinkWorker:
             payload = str(msg)
         self.log("RX", payload)
         if msg_type == "HEARTBEAT" and getattr(msg, "type", 0) != mavutil.mavlink.MAV_TYPE_GCS:
+            if getattr(msg, "autopilot", mavutil.mavlink.MAV_AUTOPILOT_INVALID) == mavutil.mavlink.MAV_AUTOPILOT_INVALID:
+                return
+            if self.target_system and (msg.get_srcSystem(), msg.get_srcComponent()) != (self.target_system, self.target_component):
+                return
             first = not self.target_system
             self.target_system = msg.get_srcSystem()
             self.target_component = msg.get_srcComponent()
@@ -213,15 +222,17 @@ class MavlinkWorker:
                 mode = str(msg.custom_mode)
             autopilot = mavutil.mavlink.enums["MAV_AUTOPILOT"].get(msg.autopilot)
             ap_name = autopilot.name if autopilot else str(msg.autopilot)
-            self.events.put(("heartbeat", self.target_system, ap_name, mode, armed))
+            self.events.put(("heartbeat", self.target_system, ap_name, mode, armed, self.last_heartbeat))
             if first:
                 self.events.put(("status", "Heartbeat received; controls are neutral."))
                 self._configure_low_bandwidth_streams()
                 self._start_servo_scan()
         elif msg_type == "COMMAND_ACK":
+            if (msg.get_srcSystem(), msg.get_srcComponent()) != (self.target_system, self.target_component):
+                return
             result = mavutil.mavlink.enums["MAV_RESULT"].get(msg.result)
             result_name = result.name if result else str(msg.result)
-            self.events.put(("ack", int(msg.command), result_name))
+            self.events.put(("ack", int(msg.command), result_name, self.last_rx))
         elif msg_type == "STATUSTEXT":
             text = msg.text
             if isinstance(text, bytes):
@@ -343,10 +354,17 @@ class MavlinkWorker:
         if not conn or not self.target_system:
             return
         with self.lock:
-            active = not force_neutral
+            now = time.monotonic()
+            expired = self.require_input_lease and (
+                not self.armed or now - self.last_heartbeat > 3.0
+                or now - self.last_input_at > self.input_timeout)
+            if expired or force_neutral:
+                # Never replay a stored command after telemetry/UI recovery.
+                self.axes = Axes()
+                self.output_axes = Axes()
+            active = not (force_neutral or expired)
             target = self.axes if active else Axes()
             gain = self.gain
-            now = time.monotonic()
             if force_neutral:
                 self.output_axes = Axes()
             else:
@@ -418,7 +436,7 @@ class MavlinkWorker:
             manual,
         )
 
-    def set_axes(self, axes: Axes):
+    def set_axes(self, axes: Axes, sequence=None):
         def conditioned(value):
             # Ignore tiny pointer/key return noise, then quantize to stable 1% steps.
             if abs(value) < 0.04:
@@ -426,6 +444,11 @@ class MavlinkWorker:
             return round(max(-1.0, min(1.0, value)), 2)
 
         with self.lock:
+            if sequence is not None:
+                if sequence <= self.last_input_sequence:
+                    return
+                self.last_input_sequence = sequence
+            self.last_input_at = time.monotonic()
             self.axes = Axes(
                 conditioned(axes.forward), conditioned(axes.lateral),
                 conditioned(axes.vertical), conditioned(axes.yaw),
@@ -1185,7 +1208,7 @@ class App(tk.Tk):
                 event = self.events.get_nowait()
                 kind = event[0]
                 if kind == "heartbeat":
-                    _, system, autopilot, mode, armed = event
+                    _, system, autopilot, mode, armed = event[:5]
                     self.vehicle_label.configure(
                         text=f"{mode}  •  {'ARMED' if armed else 'DISARMED'}"
                     )