uavcan: implement OpenDroneID BasicID

Signed-off-by: Julian Oes <julian@oes.ch>
2026-07-13 07:50:35 +08:00 · 2024-05-03 17:52:22 +12:00
parent 87a63e75be
commit cf19764d75
7 changed files with 173 additions and 1 deletions
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   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
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+ *    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,
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+ *
+ ****************************************************************************/
+
+#include "remoteid.hpp"
+#include <lib/open_drone_id/open_drone_id_translations.hpp>
+
+UavcanRemoteIDController::UavcanRemoteIDController(uavcan::INode &node) :
+	ModuleParams(nullptr),
+	_timer(node),
+	_node(node),
+	_uavcan_pub_remoteid_basicid(node)
+{
+}
+
+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));
+	return 0;
+}
+
+void UavcanRemoteIDController::periodic_update(const uavcan::TimerEvent &)
+{
+	if (!_vehicle_status_sub.update()) {
+		return;
+	}
+
+	dronecan::remoteid::BasicID basic_id {};
+	// basic_id.id_or_mac // supposedly only used for drone ID data from other UAs
+	basic_id.id_type = dronecan::remoteid::BasicID::ODID_ID_TYPE_SERIAL_NUMBER;
+	basic_id.ua_type = static_cast<uint8_t>(open_drone_id_translations::odidTypeForMavType(
+			_vehicle_status_sub.get().system_type));
+
+	// uas_id: UAS (Unmanned Aircraft System) ID following the format specified by id_type
+	// TODO: MAV_ODID_ID_TYPE_SERIAL_NUMBER needs to be ANSI/CTA-2063 format
+
+	char uas_id[20] = {};
+	board_get_px4_guid_formated((char *)(uas_id), sizeof(uas_id));
+	basic_id.uas_id = uas_id;
+
+	_uavcan_pub_remoteid_basicid.broadcast(basic_id);
+}