mavlink: extract OpenDroneID function to lib

This extracts the function mapping from MAV_TYPE to MAV_ODID_UA_TYPE to
the library, so that it can be re-used later by the remote ID
implementation over DroneCAN.

Signed-off-by: Julian Oes <julian@oes.ch>

src/lib/CMakeLists.txt

@@ -60,6 +60,7 @@ add_subdirectory(mathlib EXCLUDE_FROM_ALL)
 add_subdirectory(mixer_module EXCLUDE_FROM_ALL)
 add_subdirectory(motion_planning EXCLUDE_FROM_ALL)
 add_subdirectory(npfg EXCLUDE_FROM_ALL)
+add_subdirectory(open_drone_id EXCLUDE_FROM_ALL)
 add_subdirectory(perf EXCLUDE_FROM_ALL)
 add_subdirectory(fw_performance_model EXCLUDE_FROM_ALL)
 add_subdirectory(pid EXCLUDE_FROM_ALL)

src/lib/open_drone_id/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   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
+#    the documentation and/or other materials provided with the
+#    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,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(open_drone_id
+	open_drone_id_translations.cpp
+	open_drone_id_translations.hpp
+)
+
+add_dependencies(open_drone_id mavlink_c_generate)
+
+target_compile_options(open_drone_id PRIVATE -Wno-cast-align -Wno-address-of-packed-member)

src/lib/open_drone_id/open_drone_id_translations.cpp

@@ -0,0 +1,255 @@
+/****************************************************************************
+ *
+ *   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
+ *    the documentation and/or other materials provided with the
+ *    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,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "open_drone_id_translations.hpp"
+#include <uORB/topics/vehicle_status.h>
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+
+namespace open_drone_id_translations
+{
+
+MAV_ODID_UA_TYPE odidTypeForMavType(uint8_t system_type)
+{
+	switch (system_type) {
+	case MAV_TYPE_GENERIC: return MAV_ODID_UA_TYPE_OTHER;
+
+	case MAV_TYPE_FIXED_WING: return MAV_ODID_UA_TYPE_AEROPLANE;
+
+	case MAV_TYPE_QUADROTOR: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
+
+	case MAV_TYPE_COAXIAL: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
+
+	case MAV_TYPE_HELICOPTER: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
+
+	case MAV_TYPE_ANTENNA_TRACKER: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_GCS: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_AIRSHIP: return MAV_ODID_UA_TYPE_AIRSHIP;
+
+	case MAV_TYPE_FREE_BALLOON: return MAV_ODID_UA_TYPE_FREE_BALLOON;
+
+	case MAV_TYPE_ROCKET: return MAV_ODID_UA_TYPE_ROCKET;
+
+	case MAV_TYPE_GROUND_ROVER: return MAV_ODID_UA_TYPE_GROUND_OBSTACLE;
+
+	case MAV_TYPE_SURFACE_BOAT: return MAV_ODID_UA_TYPE_OTHER;
+
+	case MAV_TYPE_SUBMARINE: return MAV_ODID_UA_TYPE_OTHER;
+
+	case MAV_TYPE_HEXAROTOR: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
+
+	case MAV_TYPE_OCTOROTOR: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
+
+	case MAV_TYPE_TRICOPTER: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
+
+	case MAV_TYPE_FLAPPING_WING: return MAV_ODID_UA_TYPE_ORNITHOPTER;
+
+	case MAV_TYPE_KITE: return MAV_ODID_UA_TYPE_KITE;
+
+	case MAV_TYPE_ONBOARD_CONTROLLER: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
+
+	case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
+
+	case MAV_TYPE_VTOL_TILTROTOR: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
+
+	case MAV_TYPE_VTOL_FIXEDROTOR: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
+
+	case MAV_TYPE_VTOL_TAILSITTER: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
+
+	case MAV_TYPE_VTOL_TILTWING: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
+
+	case MAV_TYPE_VTOL_RESERVED5: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
+
+	case MAV_TYPE_GIMBAL: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_ADSB: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_PARAFOIL: return MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTE;
+
+	case MAV_TYPE_DODECAROTOR: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
+
+	case MAV_TYPE_CAMERA: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_CHARGING_STATION: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_FLARM: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_SERVO: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_ODID: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_DECAROTOR: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_BATTERY: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_PARACHUTE: return MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTE;
+
+	case MAV_TYPE_LOG: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_OSD: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_IMU: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_GPS: return MAV_ODID_UA_TYPE_NONE;
+
+	case MAV_TYPE_WINCH: return MAV_ODID_UA_TYPE_NONE;
+
+	default: return MAV_ODID_UA_TYPE_OTHER;
+	}
+}
+
+MAV_ODID_SPEED_ACC odidSpeedAccForVariance(float s_variance_m_s)
+{
+	// TODO: should this be stddev, so square root of variance?
+	// speed_accuracy
+	if (s_variance_m_s < 0.3f) {
+		return MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECOND;
+
+	} else if (s_variance_m_s < 1.f) {
+		return MAV_ODID_SPEED_ACC_1_METERS_PER_SECOND;
+
+	} else if (s_variance_m_s < 3.f) {
+		return MAV_ODID_SPEED_ACC_3_METERS_PER_SECOND;
+
+	} else if (s_variance_m_s < 10.f) {
+		return MAV_ODID_SPEED_ACC_10_METERS_PER_SECOND;
+
+	} else {
+		return MAV_ODID_SPEED_ACC_UNKNOWN;
+	}
+}
+
+MAV_ODID_HOR_ACC odidHorAccForEph(float eph)
+{
+	if (eph < 1.f) {
+		return MAV_ODID_HOR_ACC_1_METER;
+
+	} else if (eph < 3.f) {
+		return MAV_ODID_HOR_ACC_3_METER;
+
+	} else if (eph < 10.f) {
+		return MAV_ODID_HOR_ACC_10_METER;
+
+	} else if (eph < 30.f) {
+		return MAV_ODID_HOR_ACC_30_METER;
+
+	} else {
+		return MAV_ODID_HOR_ACC_UNKNOWN;
+	}
+}
+
+MAV_ODID_VER_ACC odidVerAccForEpv(float epv)
+{
+	if (epv < 1.f) {
+		return MAV_ODID_VER_ACC_1_METER;
+
+	} else if (epv < 3.f) {
+		return MAV_ODID_VER_ACC_3_METER;
+
+	} else if (epv < 10.f) {
+		return MAV_ODID_VER_ACC_10_METER;
+
+	} else if (epv < 25.f) {
+		return MAV_ODID_VER_ACC_25_METER;
+
+	} else if (epv < 45.f) {
+		return MAV_ODID_VER_ACC_45_METER;
+
+	} else if (epv < 150.f) {
+		return MAV_ODID_VER_ACC_150_METER;
+
+	} else {
+		return MAV_ODID_VER_ACC_UNKNOWN;
+	}
+}
+
+
+MAV_ODID_TIME_ACC odidTimeForElapsed(uint64_t elapsed)
+{
+	if (elapsed < 100_ms) {
+		return MAV_ODID_TIME_ACC_0_1_SECOND;
+
+	} else if (elapsed < 200_ms) {
+		return MAV_ODID_TIME_ACC_0_2_SECOND;
+
+	} else if (elapsed < 300_ms) {
+		return MAV_ODID_TIME_ACC_0_3_SECOND;
+
+	} else if (elapsed < 400_ms) {
+		return MAV_ODID_TIME_ACC_0_4_SECOND;
+
+	} else if (elapsed < 500_ms) {
+		return MAV_ODID_TIME_ACC_0_5_SECOND;
+
+	} else if (elapsed < 600_ms) {
+		return MAV_ODID_TIME_ACC_0_6_SECOND;
+
+	} else if (elapsed < 700_ms) {
+		return MAV_ODID_TIME_ACC_0_7_SECOND;
+
+	} else if (elapsed < 800_ms) {
+		return MAV_ODID_TIME_ACC_0_8_SECOND;
+
+	} else if (elapsed < 900_ms) {
+		return MAV_ODID_TIME_ACC_0_9_SECOND;
+
+	} else if (elapsed < 1000_ms) {
+		return MAV_ODID_TIME_ACC_1_0_SECOND;
+
+	} else if (elapsed < 1100_ms) {
+		return MAV_ODID_TIME_ACC_1_1_SECOND;
+
+	} else if (elapsed < 1200_ms) {
+		return MAV_ODID_TIME_ACC_1_2_SECOND;
+
+	} else if (elapsed < 1300_ms) {
+		return MAV_ODID_TIME_ACC_1_3_SECOND;
+
+	} else if (elapsed < 1400_ms) {
+		return MAV_ODID_TIME_ACC_1_4_SECOND;
+
+	} else if (elapsed < 1500_ms) {
+		return MAV_ODID_TIME_ACC_1_5_SECOND;
+
+	} else {
+		return MAV_ODID_TIME_ACC_UNKNOWN;
+	}
+}
+
+} // open_drone_id_translations

src/lib/open_drone_id/open_drone_id_translations.hpp

@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   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
+ *    the documentation and/or other materials provided with the
+ *    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,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <stdint.h>
+#include <mavlink/common/mavlink.h>
+
+namespace open_drone_id_translations
+{
+
+MAV_ODID_UA_TYPE odidTypeForMavType(uint8_t system_type);
+
+MAV_ODID_SPEED_ACC odidSpeedAccForVariance(float s_variance_m_s);
+
+MAV_ODID_HOR_ACC odidHorAccForEph(float eph);
+
+MAV_ODID_VER_ACC odidVerAccForEpv(float epv);
+
+MAV_ODID_TIME_ACC odidTimeForElapsed(uint64_t elapsed);
+
+} // open_drone_id_translations

src/modules/mavlink/CMakeLists.txt

@@ -135,6 +135,7 @@ px4_add_module(
 		sensor_calibration
 		geo
 		mavlink_c
+		open_drone_id
 		timesync
 		tunes
 		variable_length_ringbuffer

src/modules/mavlink/streams/OPEN_DRONE_ID_BASIC_ID.hpp

@@ -35,6 +35,7 @@
 #define OPEN_DRONE_ID_BASIC_ID_HPP
 
 #include <uORB/topics/vehicle_status.h>
+#include <lib/open_drone_id/open_drone_id_translations.hpp>
 
 class MavlinkStreamOpenDroneIdBasicId : public MavlinkStream
 {
@@ -57,98 +58,6 @@ private:
 
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 
-	MAV_ODID_UA_TYPE odidTypeForMavType(uint8_t system_type)
-	{
-		switch (system_type) {
-		case MAV_TYPE_GENERIC: return MAV_ODID_UA_TYPE_OTHER;
-
-		case MAV_TYPE_FIXED_WING: return MAV_ODID_UA_TYPE_AEROPLANE;
-
-		case MAV_TYPE_QUADROTOR: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
-
-		case MAV_TYPE_COAXIAL: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
-
-		case MAV_TYPE_HELICOPTER: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
-
-		case MAV_TYPE_ANTENNA_TRACKER: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_GCS: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_AIRSHIP: return MAV_ODID_UA_TYPE_AIRSHIP;
-
-		case MAV_TYPE_FREE_BALLOON: return MAV_ODID_UA_TYPE_FREE_BALLOON;
-
-		case MAV_TYPE_ROCKET: return MAV_ODID_UA_TYPE_ROCKET;
-
-		case MAV_TYPE_GROUND_ROVER: return MAV_ODID_UA_TYPE_GROUND_OBSTACLE;
-
-		case MAV_TYPE_SURFACE_BOAT: return MAV_ODID_UA_TYPE_OTHER;
-
-		case MAV_TYPE_SUBMARINE: return MAV_ODID_UA_TYPE_OTHER;
-
-		case MAV_TYPE_HEXAROTOR: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
-
-		case MAV_TYPE_OCTOROTOR: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
-
-		case MAV_TYPE_TRICOPTER: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
-
-		case MAV_TYPE_FLAPPING_WING: return MAV_ODID_UA_TYPE_ORNITHOPTER;
-
-		case MAV_TYPE_KITE: return MAV_ODID_UA_TYPE_KITE;
-
-		case MAV_TYPE_ONBOARD_CONTROLLER: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
-
-		case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
-
-		case MAV_TYPE_VTOL_TILTROTOR: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
-
-		case MAV_TYPE_VTOL_FIXEDROTOR: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
-
-		case MAV_TYPE_VTOL_TAILSITTER: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
-
-		case MAV_TYPE_VTOL_TILTWING: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
-
-		case MAV_TYPE_VTOL_RESERVED5: return MAV_ODID_UA_TYPE_HYBRID_LIFT;
-
-		case MAV_TYPE_GIMBAL: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_ADSB: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_PARAFOIL: return MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTE;
-
-		case MAV_TYPE_DODECAROTOR: return MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR;
-
-		case MAV_TYPE_CAMERA: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_CHARGING_STATION: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_FLARM: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_SERVO: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_ODID: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_DECAROTOR: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_BATTERY: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_PARACHUTE: return MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTE;
-
-		case MAV_TYPE_LOG: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_OSD: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_IMU: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_GPS: return MAV_ODID_UA_TYPE_NONE;
-
-		case MAV_TYPE_WINCH: return MAV_ODID_UA_TYPE_NONE;
-
-		default: return MAV_ODID_UA_TYPE_OTHER;
-		}
-	}
 
 
 	bool send() override
@@ -167,7 +76,7 @@ private:
 			msg.id_type = MAV_ODID_ID_TYPE_SERIAL_NUMBER;
 
 			// ua_type: MAV_ODID_UA_TYPE
-			msg.ua_type = odidTypeForMavType(vehicle_status.system_type);
+			msg.ua_type = open_drone_id_translations::odidTypeForMavType(vehicle_status.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

src/modules/mavlink/streams/OPEN_DRONE_ID_LOCATION.hpp

@@ -144,22 +144,7 @@ private:
 					const int speed_vertical_cm_s = roundf(-vel_ned(2) * 100.f);
 					msg.speed_vertical = math::constrain(speed_vertical_cm_s, -6200, 6200);
 
-					// speed_accuracy
+					msg.speed_accuracy = open_drone_id_translations::odidSpeedAccForVariance(vehicle_gps_position.s_variance_m_s);
-					if (vehicle_gps_position.s_variance_m_s < 0.3f) {
-						msg.speed_accuracy = MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECOND;
-
-					} else if (vehicle_gps_position.s_variance_m_s < 1.f) {
-						msg.speed_accuracy = MAV_ODID_SPEED_ACC_1_METERS_PER_SECOND;
-
-					} else if (vehicle_gps_position.s_variance_m_s < 3.f) {
-						msg.speed_accuracy = MAV_ODID_SPEED_ACC_3_METERS_PER_SECOND;
-
-					} else if (vehicle_gps_position.s_variance_m_s < 10.f) {
-						msg.speed_accuracy = MAV_ODID_SPEED_ACC_10_METERS_PER_SECOND;
-
-					} else {
-						msg.speed_accuracy = MAV_ODID_SPEED_ACC_UNKNOWN;
-					}
 
 					updated = true;
 				}
@@ -173,45 +158,9 @@ private:
 						msg.altitude_geodetic = static_cast<float>(round(vehicle_gps_position.altitude_msl_m)); // [m]
 					}
 
-					// horizontal_accuracy
+					msg.horizontal_accuracy = open_drone_id_translations::odidHorAccForEph(vehicle_gps_position.eph);
-					if (vehicle_gps_position.eph < 1.f) {
-						msg.horizontal_accuracy = MAV_ODID_HOR_ACC_1_METER;
 
-					} else if (vehicle_gps_position.eph < 3.f) {
+					msg.vertical_accuracy = open_drone_id_translations::odidVerAccForEpv(vehicle_gps_position.epv);
-						msg.horizontal_accuracy = MAV_ODID_HOR_ACC_3_METER;
-
-					} else if (vehicle_gps_position.eph < 10.f) {
-						msg.horizontal_accuracy = MAV_ODID_HOR_ACC_10_METER;
-
-					} else if (vehicle_gps_position.eph < 30.f) {
-						msg.horizontal_accuracy = MAV_ODID_HOR_ACC_30_METER;
-
-					} else {
-						msg.horizontal_accuracy = MAV_ODID_HOR_ACC_UNKNOWN;
-					}
-
-					// vertical_accuracy
-					if (vehicle_gps_position.epv < 1.f) {
-						msg.vertical_accuracy = MAV_ODID_VER_ACC_1_METER;
-
-					} else if (vehicle_gps_position.epv < 3.f) {
-						msg.vertical_accuracy = MAV_ODID_VER_ACC_3_METER;
-
-					} else if (vehicle_gps_position.epv < 10.f) {
-						msg.vertical_accuracy = MAV_ODID_VER_ACC_10_METER;
-
-					} else if (vehicle_gps_position.epv < 25.f) {
-						msg.vertical_accuracy = MAV_ODID_VER_ACC_25_METER;
-
-					} else if (vehicle_gps_position.epv < 45.f) {
-						msg.vertical_accuracy = MAV_ODID_VER_ACC_45_METER;
-
-					} else if (vehicle_gps_position.epv < 150.f) {
-						msg.vertical_accuracy = MAV_ODID_VER_ACC_150_METER;
-
-					} else {
-						msg.vertical_accuracy = MAV_ODID_VER_ACC_UNKNOWN;
-					}
 
 					updated = true;
 				}
@@ -221,9 +170,8 @@ private:
 					uint64_t utc_time_msec = vehicle_gps_position.time_utc_usec / 1000;
 					msg.timestamp = ((float)(utc_time_msec % (60 * 60 * 1000))) / 1000;
 
-					if (hrt_elapsed_time(&vehicle_gps_position.timestamp) < 1_s) {
+					msg.timestamp_accuracy = open_drone_id_translations::odidTimeForElapsed(hrt_elapsed_time(
-						msg.timestamp_accuracy = MAV_ODID_TIME_ACC_1_0_SECOND; // TODO
+									 &vehicle_gps_position.timestamp));
-					}
 
 					updated = true;
 				}
@@ -236,7 +184,7 @@ private:
 
 			if (_vehicle_air_data_sub.copy(&vehicle_air_data) && (hrt_elapsed_time(&vehicle_air_data.timestamp) < 10_s)) {
 				msg.altitude_barometric = vehicle_air_data.baro_alt_meter;
-				msg.barometer_accuracy = MAV_ODID_VER_ACC_150_METER; // TODO
+				msg.barometer_accuracy = MAV_ODID_VER_ACC_UNKNOWN; // We just don't without calibration.
 				updated = true;
 			}
 		}