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remoteid: implement System as sent from GCS

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This will send the System message if it is already being sent by a ground
station. Otherwise, it will assemble the message itself using the
takeoff/home location.
This commit is contained in:
Julian Oes
2024-07-19 14:14:09 +12:00
parent 7d1d398984
commit cd63cfed3a
6 changed files with 101 additions and 23 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+29
View File
@@ -288,6 +288,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_open_drone_id_self_id(msg);
break;
case MAVLINK_MSG_ID_OPEN_DRONE_ID_SYSTEM:
handle_message_open_drone_id_system(msg);
break;
#if !defined(CONSTRAINED_FLASH)
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
@@ -3125,6 +3129,31 @@ void MavlinkReceiver::handle_message_open_drone_id_self_id(mavlink_message_t *ms
_open_drone_id_self_id_pub.publish(odid_self_id);
}
void MavlinkReceiver::handle_message_open_drone_id_system(
mavlink_message_t *msg)
{
mavlink_open_drone_id_system_t odid_module;
mavlink_msg_open_drone_id_system_decode(msg, &odid_module);
open_drone_id_system_s odid_system{};
memset(&odid_system, 0, sizeof(odid_system));
odid_system.timestamp = hrt_absolute_time();
memcpy(odid_system.id_or_mac, odid_module.id_or_mac, sizeof(odid_system.id_or_mac));
odid_system.operator_location_type = odid_module.operator_location_type;
odid_system.classification_type = odid_module.classification_type;
odid_system.operator_latitude = odid_module.operator_latitude;
odid_system.operator_longitude = odid_module.operator_longitude;
odid_system.area_count = odid_module.area_count;
odid_system.area_radius = odid_module.area_radius;
odid_system.area_ceiling = odid_module.area_ceiling;
odid_system.area_floor = odid_module.area_floor;
odid_system.category_eu = odid_module.category_eu;
odid_system.class_eu = odid_module.class_eu;
odid_system.operator_altitude_geo = odid_module.operator_altitude_geo;
_open_drone_id_system_pub.publish(odid_system);
}
void
MavlinkReceiver::run()
{
src/modules/mavlink/mavlink_receiver.h
+2
View File
@@ -89,6 +89,7 @@
#include <uORB/topics/onboard_computer_status.h>
#include <uORB/topics/open_drone_id_operator_id.h>
#include <uORB/topics/open_drone_id_self_id.h>
#include <uORB/topics/open_drone_id_system.h>
#include <uORB/topics/ping.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/radio_status.h>
@@ -319,6 +320,7 @@ private:
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<open_drone_id_self_id_s> _open_drone_id_self_id_pub{ORB_ID(open_drone_id_self_id)};
uORB::Publication<open_drone_id_system_s> _open_drone_id_system_pub{ORB_ID(open_drone_id_system)};
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)};