Added support for colored navigation lights and hybrid light functions.

add functionality for Status or Off

docs/en/dronecan/index.md

@@ -287,11 +287,15 @@ PX4 can control LEDs via DroneCAN [LightsCommand](https://dronecan.github.io/Spe
 
 Configuration:
 
-1. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (0 disables). You might need to reopen the ground station to have parameters for new instances available.
+1. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (0-2, 0 disables).
+   You might need to reopen the ground station to have parameters for new instances available.
 2. For each light slot (0 to NUM-1), set:
    - `UAVCAN_LGT_IDx`: The `light_id` matching your peripheral.
-   - `UAVCAN_LGT_FNx`: `Status` for system status colours, or `Anti-collision` for white beacon.
-3. For anti-collision lights, [UAVCAN_LGT_ANTCL](../advanced_config/parameter_reference.md#UAVCAN_LGT_ANTCL) controls when they illuminate (off, armed, prearmed, always on).
+   - `UAVCAN_LGT_FNx`: The light function. Available options:
+     - `Status`: System status colours from the LED controller.
+     - `Anti-collision` to `White Navigation`: Light functions controlled by `UAVCAN_LGT_MODE`.
+     - `Status / Anti-collision` to `Status / Off`: Hybrid modes that show status colours when `UAVCAN_LGT_MODE` is inactive, and switch to the second function when active.
+3. [UAVCAN_LGT_MODE](../advanced_config/parameter_reference.md#UAVCAN_LGT_MODE) controls when navigation lights turn on (off, armed, prearmed, always on).
 4. Reboot for any changes to take effect.
 
 ## QGC CANNODE Parameter Configuration

src/drivers/uavcan/module.yaml

@@ -1,4 +1,5 @@
-__max_num_uavcan_lights: &max_num_uavcan_lights 3 # Needs to be equal to MAX_NUM_UAVCAN_LIGHTS constant
+__max_num_uavcan_lights: &max_num_uavcan_lights 2 # NOTE: This value must match MAX_NUM_UAVCAN_LIGHTS in rgbled.hpp
+
 
 module_name: UAVCAN
 parameters:
@@ -54,18 +55,25 @@ parameters:
       description:
         short: Light ${i} function
         long: |
-          Function assigned to light ${i}.
-          0: Status - displays system status colors
-          1: Anti-collision - white beacon controlled by LGT_ANTCL parameter
+          Function for light ${i}. Navigation lights ("Anti-collision" to "White Navigation") follow UAVCAN_LGT_MODE.
+          Hybrid ("Status / Anti-collision" - "Status / White Navigation"): status when UAVCAN_LGT_MODE is inactive, second function to use when active.
       type: enum
       num_instances: *max_num_uavcan_lights
       instance_start: 0
       min: 0
-      max: 1
+      max: 9
       default: 0
       values:
-        0: Status Light
-        1: Anti-collision Light
+        0: Status
+        1: Anti-collision
+        2: Red Navigation
+        3: Green Navigation
+        4: White Navigation
+        5: Status / Anti-collision
+        6: Status / Red Navigation
+        7: Status / Green Navigation
+        8: Status / White Navigation
+        9: Status / Off
 actuator_output:
   show_subgroups_if: 'UAVCAN_ENABLE>=3'
   config_parameters:

src/drivers/uavcan/rgbled.cpp

@@ -131,14 +131,17 @@ void UavcanRGBController::periodic_update(const uavcan::TimerEvent &)
 		status_color = rgb888_to_rgb565(brightness, brightness, brightness);
 		break;
 
-	default:
 	case led_control_s::COLOR_OFF:
+	default:
 		break;
 	}
 
 	// Build and send light commands for all configured lights
 	uavcan::equipment::indication::LightsCommand light_command;
 
+	const bool light_mode_active = check_light_state(static_cast<LightMode>(_param_lgt_mode.get()));
+	brightness = light_mode_active ? 255 : 0;
+
 	for (uint8_t i = 0; i < _num_lights; i++) {
 		uavcan::equipment::indication::SingleLightCommand cmd;
 		cmd.light_id = _light_ids[i];
@@ -149,8 +152,40 @@ void UavcanRGBController::periodic_update(const uavcan::TimerEvent &)
 			break;
 
 		case LightFunction::AntiCollision:
-			uint8_t brigtness = is_anticolision_on() ? 255 : 0;
-			cmd.color = rgb888_to_rgb565(brigtness, brigtness, brigtness);
+			cmd.color = rgb888_to_rgb565(brightness, brightness, brightness);
+			break;
+
+		case LightFunction::RedNavigation:
+			cmd.color = rgb888_to_rgb565(brightness, 0, 0);
+			break;
+
+		case LightFunction::GreenNavigation:
+			cmd.color = rgb888_to_rgb565(0, brightness, 0);
+			break;
+
+		case LightFunction::WhiteNavigation:
+			cmd.color = rgb888_to_rgb565(brightness, brightness, brightness);
+			break;
+
+		// Hybrid functions: show status when UAVCAN_LGT_MODE inactive, navigation light when active
+		case LightFunction::StatusOrAntiCollision:
+			cmd.color = light_mode_active ? rgb888_to_rgb565(brightness, brightness, brightness) : status_color;
+			break;
+
+		case LightFunction::StatusOrRedNavigation:
+			cmd.color = light_mode_active ? rgb888_to_rgb565(brightness, 0, 0) : status_color;
+			break;
+
+		case LightFunction::StatusOrGreenNavigation:
+			cmd.color = light_mode_active ? rgb888_to_rgb565(0, brightness, 0) : status_color;
+			break;
+
+		case LightFunction::StatusOrWhiteNavigation:
+			cmd.color = light_mode_active ? rgb888_to_rgb565(brightness, brightness, brightness) : status_color;
+			break;
+
+		case LightFunction::StatusOrOff:
+			cmd.color = light_mode_active ? rgb888_to_rgb565(0, 0, 0) : status_color;
 			break;
 		}
 
@@ -160,12 +195,12 @@ void UavcanRGBController::periodic_update(const uavcan::TimerEvent &)
 	_uavcan_pub_lights_cmd.broadcast(light_command);
 }
 
-bool UavcanRGBController::is_anticolision_on()
+bool UavcanRGBController::check_light_state(LightMode mode)
 {
 	actuator_armed_s actuator_armed{};
 	_actuator_armed_sub.copy(&actuator_armed);
 
-	switch (_param_uavcan_lgt_antcl.get()) {
+	switch (_param_lgt_mode.get()) {
 	case 3: // Always on
 		return true;
 

src/drivers/uavcan/rgbled.hpp

@@ -54,18 +54,36 @@ private:
 	// Max update rate to avoid excessive bus traffic
 	static constexpr unsigned MAX_RATE_HZ = 20;
 
-	// Maximum number of configurable lights
-	static constexpr uint8_t MAX_NUM_UAVCAN_LIGHTS = 3;
+	// NOTE: This value must match __max_num_uavcan_lights in module.yaml
+	static constexpr uint8_t MAX_NUM_UAVCAN_LIGHTS = 2;
 
-	// Light function types
+	// Light function types - must match values in module.yaml UAVCAN_LGT_FN
 	enum class LightFunction : uint8_t {
-		Status = 0,        // System status colors from led_control
-		AntiCollision = 1  // White beacon based on arm state
+		Status = 0,                    // System status colors from led_control
+		AntiCollision = 1,             // White beacon based on arm state
+		RedNavigation = 2,             // Red navigation light
+		GreenNavigation = 3,           // Green navigation light
+		WhiteNavigation = 4,           // White navigation light
+		StatusOrAntiCollision = 5,     // Status when LGT_MODE inactive, white beacon when active
+		StatusOrRedNavigation = 6,     // Status when LGT_MODE inactive, red nav when active
+		StatusOrGreenNavigation = 7,   // Status when LGT_MODE inactive, green nav when active
+		StatusOrWhiteNavigation = 8,   // Status when LGT_MODE inactive, white nav when active
+		StatusOrOff = 9                // Status when LGT_MODE inactive, off when active
 	};
 
+	enum class LightMode : uint8_t {
+		Off = 0,
+		WhenArmed = 1,
+		WhenPrearmed = 2,
+		AlwaysOn = 3
+	};
+
+	// White light intensity levels
+	enum class Brightness { None, Full };
+
 	void periodic_update(const uavcan::TimerEvent &);
 
-	bool is_anticolision_on(); ///< Evaluates current on state of collision lights accordingt to UAVCAN_LGT_ANTCL
+	bool check_light_state(LightMode mode);
 
 	uavcan::equipment::indication::RGB565 rgb888_to_rgb565(uint8_t red, uint8_t green, uint8_t blue);
 
@@ -91,6 +109,6 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::UAVCAN_LGT_NUM>) _param_lgt_num,
-		(ParamInt<px4::params::UAVCAN_LGT_ANTCL>) _param_uavcan_lgt_antcl
+		(ParamInt<px4::params::UAVCAN_LGT_MODE>) _param_lgt_mode
 	)
 };

src/drivers/uavcan/uavcan_params.c

@@ -132,10 +132,14 @@ PARAM_DEFINE_FLOAT(UAVCAN_ECU_MAXF, 15.0f);
 PARAM_DEFINE_INT32(UAVCAN_ECU_FUELT, 1);
 
 /**
- * UAVCAN ANTI_COLLISION light operating mode
+ * UAVCAN Navigation light operating mode
  *
  * This parameter defines the minimum condition under which the system will command
- * lights with anti-collision function to turn on (white).
+ * Navigation lights to turn on. Affects lights with functions: Anti-collision, Colored Navigation Lights or Hybrid lights.
+ *
+ * For hybrid functions (StatusOrAntiCollision, etc.), the light
+ * displays status colors when this mode is inactive, and switches to the
+ * navigation light function when this mode becomes active.
  *
  *  0 - Always off
  *  1 - When autopilot is armed
@@ -151,7 +155,7 @@ PARAM_DEFINE_INT32(UAVCAN_ECU_FUELT, 1);
  * @reboot_required true
  * @group UAVCAN
  */
-PARAM_DEFINE_INT32(UAVCAN_LGT_ANTCL, 2);
+PARAM_DEFINE_INT32(UAVCAN_LGT_MODE, 1);
 
 /**
  * publish Arming Status stream