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fix(dronecan): forward MAVLink OpenDroneID Basic ID (#27274)

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This commit is contained in:
msl-dev
2026-06-09 09:26:12 +12:00
committed by GitHub
parent 04af7db228
commit 2b2c506a95
6 changed files with 68 additions and 11 deletions
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msg/CMakeLists.txt
+1
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@@ -152,6 +152,7 @@ set(msg_files
OffboardControlMode.msg
OnboardComputerStatus.msg
OpenDroneIdArmStatus.msg
OpenDroneIdBasicId.msg
OpenDroneIdOperatorId.msg
OpenDroneIdSelfId.msg
OpenDroneIdSystem.msg
msg/OpenDroneIdBasicId.msg
+5
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@@ -0,0 +1,5 @@
uint64 timestamp
uint8[20] id_or_mac # Only used for drone ID data received from other UAs, no null termination, null filled if shorter
uint8 id_type # MAV_ODID_ID_TYPE: indicates the format for the uas_id field
uint8 ua_type # MAV_ODID_UA_TYPE: indicates the type of UA (Unmanned Aircraft)
uint8[20] uas_id # UAS (Unmanned Aircraft System) ID following the format specified by id_type, no null termination, null filled if shorter
src/drivers/uavcan/remoteid.cpp
+32 -11
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@@ -80,20 +80,41 @@ void UavcanRemoteIDController::periodic_update(const uavcan::TimerEvent &)
void UavcanRemoteIDController::send_basic_id()
{
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.get().system_type));
dronecan::remoteid::BasicID msg {};
// 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
// msg.id_or_mac // supposedly only used for drone ID data from other UAs
if (_open_drone_id_basic_id.advertised()) {
open_drone_id_basic_id_s basic_id {};
char uas_id[20] = {};
board_get_px4_guid_formated((char *)(uas_id), sizeof(uas_id));
basic_id.uas_id = uas_id;
if (_open_drone_id_basic_id.copy(&basic_id)) {
msg.id_type = basic_id.id_type;
msg.ua_type = basic_id.ua_type;
_uavcan_pub_remoteid_basicid.broadcast(basic_id);
using UasIdField = decltype(msg.uas_id);
static_assert(sizeof(basic_id.uas_id) == UasIdField::MaxSize, "OpenDroneID Basic ID uas_id size mismatch");
// uas_id: UAS (Unmanned Aircraft System) ID following the format specified by id_type
for (unsigned i = 0; i < UasIdField::MaxSize; ++i) {
msg.uas_id.push_back(basic_id.uas_id[i]);
}
}
} else {
msg.id_type = dronecan::remoteid::BasicID::ODID_ID_TYPE_SERIAL_NUMBER;
msg.ua_type = static_cast<uint8_t>(open_drone_id_translations::odidTypeForMavType(_vehicle_status.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(uas_id, sizeof(uas_id));
for (unsigned i = 0; i < sizeof(uas_id); ++i) {
msg.uas_id.push_back(uas_id[i]);
}
}
_uavcan_pub_remoteid_basicid.broadcast(msg);
}
void UavcanRemoteIDController::send_location()
src/drivers/uavcan/remoteid.hpp
+2
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@@ -41,6 +41,7 @@
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/open_drone_id_basic_id.h>
#include <uORB/topics/open_drone_id_operator_id.h>
#include <uORB/topics/open_drone_id_arm_status.h>
#include <uORB/topics/open_drone_id_self_id.h>
@@ -89,6 +90,7 @@ private:
uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_position_sub{ORB_ID(home_position)};
uORB::Subscription _open_drone_id_basic_id{ORB_ID(open_drone_id_basic_id)};
uORB::Subscription _open_drone_id_operator_id{ORB_ID(open_drone_id_operator_id)};
uORB::Subscription _open_drone_id_self_id{ORB_ID(open_drone_id_self_id)};
uORB::Subscription _open_drone_id_system{ORB_ID(open_drone_id_system)};
src/modules/mavlink/mavlink_receiver.cpp
+25
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@@ -276,6 +276,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_statustext(msg);
break;
case MAVLINK_MSG_ID_OPEN_DRONE_ID_BASIC_ID:
handle_message_open_drone_id_basic_id(msg);
break;
case MAVLINK_MSG_ID_OPEN_DRONE_ID_OPERATOR_ID:
handle_message_open_drone_id_operator_id(msg);
break;
@@ -3536,6 +3540,27 @@ 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_basic_id(mavlink_message_t *msg)
{
mavlink_open_drone_id_basic_id_t odid_module {};
mavlink_msg_open_drone_id_basic_id_decode(msg, &odid_module);
if (odid_module.target_system != mavlink_system.sysid ||
(odid_module.target_component != mavlink_system.compid && odid_module.target_component != MAV_COMP_ID_ALL)) {
return;
}
open_drone_id_basic_id_s odid_basic_id {};
odid_basic_id.timestamp = hrt_absolute_time();
memcpy(odid_basic_id.id_or_mac, odid_module.id_or_mac, sizeof(odid_basic_id.id_or_mac));
odid_basic_id.id_type = odid_module.id_type;
odid_basic_id.ua_type = odid_module.ua_type;
memcpy(odid_basic_id.uas_id, odid_module.uas_id, sizeof(odid_basic_id.uas_id));
_open_drone_id_basic_id_pub.publish(odid_basic_id);
}
void MavlinkReceiver::handle_message_open_drone_id_operator_id(
mavlink_message_t *msg)
{
src/modules/mavlink/mavlink_receiver.h
+3
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@@ -91,6 +91,7 @@
#include <uORB/topics/obstacle_distance.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/onboard_computer_status.h>
#include <uORB/topics/open_drone_id_basic_id.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>
@@ -206,6 +207,7 @@ private:
void handle_message_obstacle_distance(mavlink_message_t *msg);
void handle_message_odometry(mavlink_message_t *msg);
void handle_message_onboard_computer_status(mavlink_message_t *msg);
void handle_message_open_drone_id_basic_id(mavlink_message_t *msg);
void handle_message_open_drone_id_operator_id(mavlink_message_t *msg);
void handle_message_open_drone_id_self_id(mavlink_message_t *msg);
void handle_message_open_drone_id_system(mavlink_message_t *msg);
@@ -355,6 +357,7 @@ private:
uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
uORB::Publication<onboard_computer_status_s> _onboard_computer_status_pub{ORB_ID(onboard_computer_status)};
uORB::Publication<velocity_limits_s> _velocity_limits_pub{ORB_ID(velocity_limits)};
uORB::Publication<open_drone_id_basic_id_s> _open_drone_id_basic_id_pub{ORB_ID(open_drone_id_basic_id)};
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)};