[tracker] Start automatically. Add setting to start/stop it. (#2640)

conf/modules/e_identification_fr.xml

@@ -6,11 +6,18 @@
     <configure name="E_ID_PORT" value="UARTx" description="UART where the e-id device is connected to (UART1, UART2, etc"/>
     <configure name="E_ID_BAUD" value="B115200" description="UART baud rate"/>
   </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings name="eID">
+        <dl_setting shortname="e_id_running" var="e_identification_started" min="0" step="1" max="1" values="STOPPED|RUNNING"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
   <header>
     <file name="e_identification_fr.h"/>
   </header>
   <init fun="e_identification_fr_init()"/>
-  <periodic fun="e_identification_fr_periodic()" freq="4" autorun="FALSE"/>
+  <periodic fun="e_identification_fr_periodic()" freq="4" autorun="TRUE"/>
   <makefile target="ap">
     <configure name="E_ID_PORT"  case="upper|lower"/>
     <configure name="E_ID_BAUD" default="B115200"/>

sw/airborne/modules/e_identification_fr/e_identification_fr.c

@@ -38,32 +38,37 @@
 
 
 static struct uart_periph *dev = &(E_ID_DEV);
+bool e_identification_started = false;
 
 static int put_lat(uint8_t *buf)
 {
   int32_t lat = stateGetPositionLla_i()->lat / 1e2;
+  /// warning! strong dependency over GCC!
+  int32_t belat = __builtin_bswap32(lat);
   buf[0] = E_ID_LAT;
-  buf[1] = sizeof(lat);
-  memcpy(buf + 2, &lat, sizeof(lat));
-  return sizeof(lat) + 2;
+  buf[1] = sizeof(belat);
+  memcpy(buf + 2, &belat, sizeof(belat));
+  return sizeof(belat) + 2;
 }
 
 static int put_lon(uint8_t *buf)
 {
   int32_t lon = stateGetPositionLla_i()->lon / 1e2;
+  int32_t belon = __builtin_bswap32(lon);
   buf[0] = E_ID_LON;
-  buf[1] = sizeof(lon);
-  memcpy(buf + 2, &lon, sizeof(lon));
-  return sizeof(lon) + 2;
+  buf[1] = sizeof(belon);
+  memcpy(buf + 2, &belon, sizeof(belon));
+  return sizeof(belon) + 2;
 }
 
 static int put_alt(uint8_t *buf)
 {
   int16_t alt = gps.hmsl / 1e3;
+  int16_t bealt = __builtin_bswap16(alt);
   buf[0] = E_ID_HMSL;
-  buf[1] = sizeof(alt);
-  memcpy(buf + 2, &alt, sizeof(alt));
-  return sizeof(alt) + 2;
+  buf[1] = sizeof(bealt);
+  memcpy(buf + 2, &bealt, sizeof(bealt));
+  return sizeof(bealt) + 2;
 }
 
 static int put_horizontal_speed(uint8_t *buf)
@@ -84,10 +89,11 @@ static int put_route(uint8_t *buf)
   } else {
     route = (uint16_t)(360 + route_normalized);
   }
+  uint16_t beroute = __builtin_bswap16(route);
   buf[0] = E_ID_ROUTE;
-  buf[1] = sizeof(route);
-  memcpy(buf + 2, &route, sizeof(route));
-  return sizeof(route) + 2;
+  buf[1] = sizeof(beroute);
+  memcpy(buf + 2, &beroute, sizeof(beroute));
+  return sizeof(beroute) + 2;
 }
 
 static int put_lat_lon_home(uint8_t *buf)
@@ -116,17 +122,19 @@ static int put_lat_lon_home(uint8_t *buf)
 
   int32_t lat_home = ptr_home_lla_i->lat / 1e2;
   int32_t lon_home = ptr_home_lla_i->lon / 1e2;
+  int32_t belat_home = __builtin_bswap32(lat_home);
+  int32_t belon_home = __builtin_bswap32(lon_home);
 
   int offset = 0;
   buf[offset++] = E_ID_LAT_TO;
-  buf[offset++] = sizeof(lat_home);
-  memcpy(buf + offset, &lat_home, sizeof(lat_home));
-  offset += sizeof(lat_home);
+  buf[offset++] = sizeof(belat_home);
+  memcpy(buf + offset, &belat_home, sizeof(belat_home));
+  offset += sizeof(belat_home);
 
   buf[offset++] = E_ID_LON_TO;
-  buf[offset++] = sizeof(lon_home);
-  memcpy(buf + offset, &lon_home, sizeof(lon_home));
-  offset += sizeof(lon_home);
+  buf[offset++] = sizeof(belon_home);
+  memcpy(buf + offset, &belon_home, sizeof(belon_home));
+  offset += sizeof(belon_home);
 
   return offset;
 }
@@ -138,8 +146,17 @@ void e_identification_fr_init()
 
 void e_identification_fr_periodic()
 {
-
-  if (gps.fix) {
+#if defined(FIXEDWING_FIRMWARE)
+  if (autopilot.launch) {
+#elif defined(ROTORCRAFT_FIRMWARE)
+  if (autopilot_in_flight()) {
+#else
+#error "firmware unsupported!"
+#endif
+    e_identification_started = true;
+  }
+  
+  if (GpsFixValid() && e_identification_started) {
     uint8_t buf[MAX_BUF_LEN];
     buf[0] = 0X99;  //PPRZ_STX
     buf[1] = 0;   //filled later with message length

sw/airborne/modules/e_identification_fr/e_identification_fr.h

@@ -26,6 +26,8 @@
 #ifndef E_IDENTIFICATION_FR_H
 #define E_IDENTIFICATION_FR_H
 
+#include "stdbool.h"
+
 enum e_id_type {
   // 0 reserved for future use
   E_ID_PROTOCOL_VERSION = 1,
@@ -45,8 +47,7 @@ enum e_id_type {
 extern void e_identification_fr_init(void);
 extern void e_identification_fr_periodic(void);
 
-#define E_Identification_Fr_Start() (e_identification_fr_e_identification_fr_periodic_status = MODULES_START)
-#define E_Identification_Fr_Stop() (e_identification_fr_e_identification_fr_periodic_status = MODULES_STOP)
+extern bool e_identification_started;
 
 #endif