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mavlink: initial OPEN_DRONE_ID_BASIC_ID/OPEN_DRONE_ID_LOCATION support

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This commit is contained in:
Thomas Debrunner
2022-08-09 21:02:51 +02:00
committed by Daniel Agar
parent b179427b4c
commit 0af87ec745
10 changed files with 518 additions and 7 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+7
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@@ -2206,6 +2206,12 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
(hb.system_status == MAV_STATE_STANDBY) || (hb.system_status == MAV_STATE_ACTIVE);
break;
case MAV_TYPE_ODID:
_heartbeat_type_open_drone_id = now;
_mavlink->telemetry_status().open_drone_id_system_healthy =
(hb.system_status == MAV_STATE_STANDBY) || (hb.system_status == MAV_STATE_ACTIVE);
break;
default:
PX4_DEBUG("unhandled HEARTBEAT MAV_TYPE: %" PRIu8 " from SYSID: %" PRIu8 ", COMPID: %" PRIu8, hb.type, msg->sysid,
msg->compid);
@@ -3013,6 +3019,7 @@ void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force)
tstatus.heartbeat_type_adsb = (t <= TIMEOUT + _heartbeat_type_adsb);
tstatus.heartbeat_type_camera = (t <= TIMEOUT + _heartbeat_type_camera);
tstatus.heartbeat_type_parachute = (t <= TIMEOUT + _heartbeat_type_parachute);
tstatus.heartbeat_type_open_drone_id = (t <= TIMEOUT + _heartbeat_type_open_drone_id);
tstatus.heartbeat_component_telemetry_radio = (t <= TIMEOUT + _heartbeat_component_telemetry_radio);
tstatus.heartbeat_component_log = (t <= TIMEOUT + _heartbeat_component_log);