1. (adding) mainOrchestrator 增加版本先驗程序

2. (adding) mavlinkVehicleView 增加 read_all 快速讀取
3. (modify) 優化 longCommand 與 navigation 使其更好引用
4. (adding) 提供一個完整的 example_wholeMoving 作為範例
4. (remove) 移除 fc_network_app 重複功能
5. (modify) 修改 overview_table 部分顯示文字

src/fc_network_apps/navigation.py

@@ -99,7 +99,6 @@ def _echo_position_target_matches(
 @dataclass
 class PositionTargetGlobalIntResult:
     """對應 MavPositionTargetGlobalInt.srv 的 Response；success 依「送出與 r_* echo 是否一致」。"""
-
     success: bool
     message: str
     ack_result: int
@@ -117,7 +116,6 @@ class PositionTargetGlobalIntResult:
     r_yaw: float = 0.0
     r_yaw_rate: float = 0.0
 
-
 class PositionTargetGlobalIntClient(Node):
     """
     ROS2 client：對 pos_global_int service 發送 SET_POSITION_TARGET_GLOBAL_INT (msg 86)，
@@ -230,51 +228,6 @@ class PositionTargetGlobalIntClient(Node):
             r_yaw_rate=float(resp.r_yaw_rate),
         )
 
-    # def set_position_target_global_int(
-    #     self,
-    #     *,
-    #     target_sysid: int,
-    #     target_compid: int = 0,
-    #     time_boot_ms: int = 0,
-    #     coordinate_frame: int = 6,
-    #     type_mask: int = 0,
-    #     lat_int: int = 0,
-    #     lon_int: int = 0,
-    #     alt: float = 0.0,
-    #     vx: float = 0.0,
-    #     vy: float = 0.0,
-    #     vz: float = 0.0,
-    #     afx: float = 0.0,
-    #     afy: float = 0.0,
-    #     afz: float = 0.0,
-    #     yaw: float = 0.0,
-    #     yaw_rate: float = 0.0,
-    #     timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    # ) -> PositionTargetGlobalIntResult:
-    #     """
-    #     送出 SET_POSITION_TARGET_GLOBAL_INT；coordinate_frame 預設 6 (MAV_FRAME_GLOBAL_INT)
-    #     可依飛控／任務覆寫。
-    #     """
-    #     return self._send_position_target_global_int(
-    #         target_sysid=target_sysid,
-    #         target_compid=target_compid,
-    #         time_boot_ms=time_boot_ms,
-    #         coordinate_frame=coordinate_frame,
-    #         type_mask=type_mask,
-    #         lat_int=lat_int,
-    #         lon_int=lon_int,
-    #         alt=alt,
-    #         vx=vx,
-    #         vy=vy,
-    #         vz=vz,
-    #         afx=afx,
-    #         afy=afy,
-    #         afz=afz,
-    #         yaw=yaw,
-    #         yaw_rate=yaw_rate,
-    #         timeout_sec=timeout_sec,
-    #     )
-
     def goto_position_only(
         self,
         *,
@@ -307,47 +260,3 @@ class PositionTargetGlobalIntClient(Node):
             yaw_rate=0,
             timeout_sec=timeout_sec,
         )
-
-    # def set_position_target_global_int_deg(
-    #     self,
-    #     *,
-    #     target_sysid: int,
-    #     latitude_deg: float,
-    #     longitude_deg: float,
-    #     target_compid: int = 0,
-    #     time_boot_ms: int = 0,
-    #     coordinate_frame: int = MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
-    #     type_mask: int = 0,
-    #     alt: float = 0.0,
-    #     vx: float = 0.0,
-    #     vy: float = 0.0,
-    #     vz: float = 0.0,
-    #     afx: float = 0.0,
-    #     afy: float = 0.0,
-    #     afz: float = 0.0,
-    #     yaw: float = 0.0,
-    #     yaw_rate: float = 0.0,
-    #     timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    # ) -> PositionTargetGlobalIntResult:
-    #     """以度為單位的緯經，轉成 MAVLink 的 lat_int / lon_int (1e7 * deg)。"""
-    #     lat_int = int(round(latitude_deg * 1e7))
-    #     lon_int = int(round(longitude_deg * 1e7))
-    #     return self.set_position_target_global_int(
-    #         target_sysid=target_sysid,
-    #         target_compid=target_compid,
-    #         time_boot_ms=time_boot_ms,
-    #         coordinate_frame=coordinate_frame,
-    #         type_mask=type_mask,
-    #         lat_int=lat_int,
-    #         lon_int=lon_int,
-    #         alt=alt,
-    #         vx=vx,
-    #         vy=vy,
-    #         vz=vz,
-    #         afx=afx,
-    #         afy=afy,
-    #         afz=afz,
-    #         yaw=yaw,
-    #         yaw_rate=yaw_rate,
-    #         timeout_sec=timeout_sec,
-    #     )