ZP SITL: Fix UI Telem Logger MAVLink Multi-Message Packet Parsing

zp_sitl/sitl_main.py

@@ -188,19 +188,18 @@ async def rfd_viewer_handler(request):
             messages = sitl.zp.get_rfd_messages()
             for direction, message in messages:
                 # Try to decode as MAVLink
-                # TODO: If a message is split between two UDP messages, we currently don't handle it correctly and just stream the bytes. This is pretty rare though rn
+                # TODO: If a message is split between two UDP messages, we currently don't handle it correctly and just stream the bytes. Currently ZP never splits messages, so it is not yet an issue.
                 decoded = mavlink_decoder.decode_hex_message(message)
 
                 if decoded:
-                    msg_name, formatted = decoded
-                    await ws.send_json({
-                        "direction": direction,
-                        "raw": message,
-                        "decoded": formatted,
-                        "type": msg_name
-                    })
+                    for msg_name, formatted in decoded:
+                        await ws.send_json({
+                            "direction": direction,
+                            "raw": message,
+                            "decoded": formatted,
+                            "type": msg_name
+                        })
                 else:
-                    # Send raw if decoding fails
                     await ws.send_json({
                         "direction": direction,
                         "raw": message,

zp_sitl/ui/script.js

@@ -144,6 +144,8 @@ function handleJoystick(ws, controls) {
 }
 
 function startRFDViewer() {
+    const MAX_MESSAGES = 1000;
+
     const rfdWs = new WebSocket('ws://localhost:8080/rfd');
     const txDiv = document.getElementById('telem-tx');
     const rxDiv = document.getElementById('telem-rx');
@@ -159,6 +161,6 @@ function startRFDViewer() {
             : data.raw;
 
         div.insertBefore(msgElem, div.firstChild);
-        if (div.children.length > 100) div.removeChild(div.lastChild);
+        if (div.children.length > MAX_MESSAGES) div.removeChild(div.lastChild);
     };
 }

zp_sitl/util/mavlink_decoder.py

@@ -40,27 +40,22 @@ def decode_hex_message(self, hex_string):
             if len(data) < 3 or (data[0] != 0xFE and data[0] != 0xFD):
                 return None
 
-            # Parse the message by feeding bytes one at a time
-            msg = None
+            # Parse ALL messages by feeding bytes one at a time
+            messages = []
             for byte in data:
                 msg = self.mav.parse_char(bytes([byte]))
                 if msg:
-                    break
+                    msg_name = msg.get_type()
+                    msg_dict = msg.to_dict()
+
+                    formatted = f"{msg_name}"
+                    for key, value in msg_dict.items():
+                        if key != 'mavpackettype':
+                            formatted += f"\n  {key}: {value}"
+
+                    messages.append((msg_name, formatted))
 
-            if msg is None:
-                return None
-
-            # Extract message info
-            msg_name = msg.get_type()
-            msg_dict = msg.to_dict()
-
-            # Format nicely
-            formatted = f"{msg_name}"
-            for key, value in msg_dict.items():
-                if key != 'mavpackettype':
-                    formatted += f"\n  {key}: {value}"
-
-            return (msg_name, formatted)
+            return messages if messages else None
         except Exception as e:
             return None