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uavcan: add OpenDroneID ArmStatus, operator ID

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In order to have operator ID be sent by QGC, we need to forward
ArmStatus from the remote ID module (here on DroneCAN) to MAVLink.
This commit is contained in:
Julian Oes 2024-07-11 14:36:54 +12:00
parent d999258171
commit 04ea4f9b3a
10 changed files with 205 additions and 2 deletions
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2
msg/CMakeLists.txt
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@ -152,6 +152,8 @@ set(msg_files
ObstacleDistance.msg
OffboardControlMode.msg
OnboardComputerStatus.msg
OpenDroneIdArmStatus.msg
OpenDroneIdOperatorId.msg
OrbitStatus.msg
OrbTest.msg
OrbTestLarge.msg

3
msg/OpenDroneIdArmStatus.msg Normal file
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@ -0,0 +1,3 @@
uint64 timestamp
uint8 status
char[50] error

4
msg/OpenDroneIdOperatorId.msg Normal file
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@ -0,0 +1,4 @@
uint64 timestamp
uint8[20] id_or_mac
uint8 operator_id_type
char[20] operator_id

47
src/drivers/uavcan/remoteid.cpp
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@ -44,7 +44,9 @@ UavcanRemoteIDController::UavcanRemoteIDController(uavcan::INode &node) :
_node(node),
_uavcan_pub_remoteid_basicid(node),
_uavcan_pub_remoteid_location(node),
_uavcan_pub_remoteid_system(node)
_uavcan_pub_remoteid_system(node),
_uavcan_pub_remoteid_operator_id(node),
_uavcan_sub_arm_status(node)
{
}
@ -53,6 +55,14 @@ int UavcanRemoteIDController::init()
// Setup timer and call back function for periodic updates
_timer.setCallback(TimerCbBinder(this, &UavcanRemoteIDController::periodic_update));
_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
int res = _uavcan_sub_arm_status.start(ArmStatusBinder(this, &UavcanRemoteIDController::arm_status_sub_cb));
if (res < 0) {
PX4_WARN("ArmStatus sub failed %i", res);
return res;
}
return 0;
}
@ -63,6 +73,7 @@ void UavcanRemoteIDController::periodic_update(const uavcan::TimerEvent &)
send_basic_id();
send_location();
send_system();
send_operator_id();
}
void UavcanRemoteIDController::send_basic_id()
@ -254,3 +265,37 @@ void UavcanRemoteIDController::send_system()
}
}
}
void UavcanRemoteIDController::send_operator_id()
{
open_drone_id_operator_id_s operator_id;
if (_open_drone_id_operator_id.copy(&operator_id)) {
dronecan::remoteid::OperatorID msg {};
for (unsigned i = 0; i < sizeof(operator_id.id_or_mac); ++i) {
msg.id_or_mac.push_back(operator_id.id_or_mac[i]);
}
msg.operator_id_type = operator_id.operator_id_type;
for (unsigned i = 0; i < sizeof(operator_id.operator_id); ++i) {
msg.operator_id.push_back(operator_id.operator_id[i]);
}
_uavcan_pub_remoteid_operator_id.broadcast(msg);
}
}
void
UavcanRemoteIDController::arm_status_sub_cb(const uavcan::ReceivedDataStructure<dronecan::remoteid::ArmStatus> &msg)
{
open_drone_id_arm_status_s arm_status{};
arm_status.timestamp = hrt_absolute_time();
arm_status.status = msg.status;
memcpy(arm_status.error, msg.error.c_str(), sizeof(arm_status.error));
_open_drone_id_arm_status_pub.publish(arm_status);
}

18
src/drivers/uavcan/remoteid.hpp
View File

@ -33,18 +33,23 @@
#pragma once
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/open_drone_id_operator_id.h>
#include <uORB/topics/open_drone_id_arm_status.h>
#include <uavcan/uavcan.hpp>
#include <dronecan/remoteid/BasicID.hpp>
#include <dronecan/remoteid/Location.hpp>
#include <dronecan/remoteid/System.hpp>
#include <dronecan/remoteid/ArmStatus.hpp>
#include <dronecan/remoteid/OperatorID.hpp>
#include <px4_platform_common/module_params.h>
@ -68,6 +73,9 @@ private:
void send_basic_id();
void send_location();
void send_system();
void send_operator_id();
void arm_status_sub_cb(const uavcan::ReceivedDataStructure<dronecan::remoteid::ArmStatus> &msg);
uavcan::INode &_node;
@ -77,8 +85,16 @@ private:
uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_position_sub{ORB_ID(home_position)};
uORB::Subscription _open_drone_id_operator_id{ORB_ID(open_drone_id_operator_id)};
uORB::Publication<open_drone_id_arm_status_s> _open_drone_id_arm_status_pub{ORB_ID(open_drone_id_arm_status)};
uavcan::Publisher<dronecan::remoteid::BasicID> _uavcan_pub_remoteid_basicid;
uavcan::Publisher<dronecan::remoteid::Location> _uavcan_pub_remoteid_location;
uavcan::Publisher<dronecan::remoteid::System> _uavcan_pub_remoteid_system;
uavcan::Publisher<dronecan::remoteid::OperatorID> _uavcan_pub_remoteid_operator_id;
using ArmStatusBinder = uavcan::MethodBinder < UavcanRemoteIDController *,
void (UavcanRemoteIDController::*)(const uavcan::ReceivedDataStructure<dronecan::remoteid::ArmStatus> &) >;
uavcan::Subscriber<dronecan::remoteid::ArmStatus, ArmStatusBinder> _uavcan_sub_arm_status;
};

4
src/modules/mavlink/mavlink_main.cpp
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@ -1429,6 +1429,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("OBSTACLE_DISTANCE", 1.0f);
configure_stream_local("OPEN_DRONE_ID_LOCATION", 1.f);
configure_stream_local("OPEN_DRONE_ID_SYSTEM", 1.f);
configure_stream_local("OPEN_DRONE_ID_ARM_STATUS", 1.f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 2.0f);
configure_stream_local("PING", 0.1f);
configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.0f);
@ -1498,6 +1499,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
configure_stream_local("OPEN_DRONE_ID_LOCATION", 1.f);
configure_stream_local("OPEN_DRONE_ID_SYSTEM", 1.f);
configure_stream_local("OPEN_DRONE_ID_ARM_STATUS", 1.f);
configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
configure_stream_local("PING", 1.0f);
@ -1666,6 +1668,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
configure_stream_local("OPEN_DRONE_ID_LOCATION", 1.f);
configure_stream_local("OPEN_DRONE_ID_SYSTEM", 1.f);
configure_stream_local("OPEN_DRONE_ID_ARM_STATUS", 1.f);
configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
configure_stream_local("PING", 1.0f);
@ -1758,6 +1761,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
configure_stream_local("OPEN_DRONE_ID_LOCATION", 1.f);
configure_stream_local("OPEN_DRONE_ID_SYSTEM", 1.f);
configure_stream_local("OPEN_DRONE_ID_ARM_STATUS", 1.f);
configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
configure_stream_local("PING", 0.1f);

4
src/modules/mavlink/mavlink_messages.cpp
View File

@ -97,6 +97,7 @@
#include "streams/OPEN_DRONE_ID_BASIC_ID.hpp"
#include "streams/OPEN_DRONE_ID_LOCATION.hpp"
#include "streams/OPEN_DRONE_ID_SYSTEM.hpp"
#include "streams/OPEN_DRONE_ID_ARM_STATUS.hpp"
#include "streams/OPTICAL_FLOW_RAD.hpp"
#include "streams/ORBIT_EXECUTION_STATUS.hpp"
#include "streams/PING.hpp"
@ -457,6 +458,9 @@ static const StreamListItem streams_list[] = {
#if defined(OPEN_DRONE_ID_SYSTEM_HPP)
create_stream_list_item<MavlinkStreamOpenDroneIdSystem>(),
#endif // OPEN_DRONE_ID_SYSTEM_HPP
#if defined(OPEN_DRONE_ID_ARM_STATUS_HPP)
create_stream_list_item<MavlinkStreamOpenDroneIdArmStatus>(),
#endif // OPEN_DRONE_ID_ARM_STATUS_HPP
#if defined(ESC_INFO_HPP)
create_stream_list_item<MavlinkStreamESCInfo>(),
#endif // ESC_INFO_HPP

21
src/modules/mavlink/mavlink_receiver.cpp
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@ -280,6 +280,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_statustext(msg);
break;
case MAVLINK_MSG_ID_OPEN_DRONE_ID_OPERATOR_ID:
handle_message_open_drone_id_operator_id(msg);
break;
#if !defined(CONSTRAINED_FLASH)
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
@ -3084,6 +3088,23 @@ MavlinkReceiver::handle_message_gimbal_device_attitude_status(mavlink_message_t
_gimbal_device_attitude_status_pub.publish(gimbal_attitude_status);
}
void MavlinkReceiver::handle_message_open_drone_id_operator_id(
mavlink_message_t *msg)
{
mavlink_open_drone_id_operator_id_t odid_module;
mavlink_msg_open_drone_id_operator_id_decode(msg, &odid_module);
open_drone_id_operator_id_s odid_operator_id{};
memset(&odid_operator_id, 0, sizeof(odid_operator_id));
odid_operator_id.timestamp = hrt_absolute_time();
memcpy(odid_operator_id.id_or_mac, odid_module.id_or_mac, sizeof(odid_operator_id.id_or_mac));
odid_operator_id.operator_id_type = odid_module.operator_id_type;
memcpy(odid_operator_id.operator_id, odid_module.operator_id, sizeof(odid_operator_id.operator_id));
_open_drone_id_operator_id_pub.publish(odid_operator_id);
}
void
MavlinkReceiver::run()
{

5
src/modules/mavlink/mavlink_receiver.h
View File

@ -87,6 +87,7 @@
#include <uORB/topics/obstacle_distance.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/onboard_computer_status.h>
#include <uORB/topics/open_drone_id_operator_id.h>
#include <uORB/topics/ping.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/radio_status.h>
@ -182,6 +183,9 @@ private:
void handle_message_obstacle_distance(mavlink_message_t *msg);
void handle_message_odometry(mavlink_message_t *msg);
void handle_message_onboard_computer_status(mavlink_message_t *msg);
void handle_message_open_drone_id_operator_id(mavlink_message_t *msg);
void handle_message_open_drone_id_self_id(mavlink_message_t *msg);
void handle_message_open_drone_id_system(mavlink_message_t *msg);
void handle_message_optical_flow_rad(mavlink_message_t *msg);
void handle_message_ping(mavlink_message_t *msg);
void handle_message_play_tune(mavlink_message_t *msg);
@ -312,6 +316,7 @@ private:
uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
uORB::Publication<onboard_computer_status_s> _onboard_computer_status_pub{ORB_ID(onboard_computer_status)};
uORB::Publication<velocity_limits_s> _velocity_limits_pub{ORB_ID(velocity_limits)};
uORB::Publication<open_drone_id_operator_id_s> _open_drone_id_operator_id_pub{ORB_ID(open_drone_id_operator_id)};
uORB::Publication<generator_status_s> _generator_status_pub{ORB_ID(generator_status)};
uORB::Publication<vehicle_attitude_s> _attitude_pub{ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_attitude_setpoint_s> _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};

99
src/modules/mavlink/streams/OPEN_DRONE_ID_ARM_STATUS.hpp Normal file
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@ -0,0 +1,99 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef OPEN_DRONE_ID_ARM_STATUS_HPP
#define OPEN_DRONE_ID_ARM_STATUS_HPP
#include <uORB/topics/open_drone_id_arm_status.h>
class MavlinkStreamOpenDroneIdArmStatus : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOpenDroneIdArmStatus(mavlink);
}
static constexpr const char *get_name_static()
{
return "OPEN_DRONE_ID_ARM_STATUS";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_OPEN_DRONE_ID_ARM_STATUS;
}
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _open_drone_id_arm_status_sub.advertised()
? MAVLINK_MSG_ID_OPEN_DRONE_ID_ARM_STATUS_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES
: 0;
}
private:
explicit MavlinkStreamOpenDroneIdArmStatus(Mavlink *mavlink)
: MavlinkStream(mavlink) {}
uORB::Subscription _open_drone_id_arm_status_sub{ORB_ID(open_drone_id_arm_status)};
bool send() override
{
open_drone_id_arm_status_s drone_id_arm;
if (_open_drone_id_arm_status_sub.update(&drone_id_arm)) {
mavlink_open_drone_id_arm_status_t msg{};
msg.status = drone_id_arm.status;
for (uint8_t i = 0; i < sizeof(drone_id_arm.error); ++i) {
msg.error[i] = drone_id_arm.error[i];
}
mavlink_msg_open_drone_id_arm_status_send_struct(_mavlink->get_channel(),
&msg);
return true;
}
return false;
}
};
#endif // OPEN_DRONE_ID_ARM_STATUS_HPP