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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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src/modules/mavlink/mavlink_receiver.cpp
+21
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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()
{