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[Sponsored by Cubepilot and Holybro] Cube ID via DroneCAN #23113

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merged 10 commits into from
Sep 2, 2024
Merged

[Sponsored by Cubepilot and Holybro] Cube ID via DroneCAN #23113

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21875ad
libuavcan: update DroneCAN submodule
julianoes May 3, 2024
7721b35
mavlink: extract OpenDroneID function to lib
julianoes May 9, 2024
b23afc5
uavcan: implement OpenDroneID BasicID
julianoes May 3, 2024
c84384d
uavcan: implement OpenDroneID Location
julianoes Jul 10, 2024
0891fa8
uavcan: implement OpenDroneID System
julianoes Jul 10, 2024
4bc5272
uavcan: add OpenDroneID ArmStatus, operator ID
julianoes Jul 11, 2024
a101db7
remoteid: add SelfID message
julianoes Jul 19, 2024
2f8e0a7
remoteid: implement System as sent from GCS
julianoes Jul 19, 2024
573977e
boards: make flash space for remote ID over DroneCAN
julianoes Aug 14, 2024
3f89f17
mavlink/lib: move open_drone_id helpers to mavlink
julianoes Aug 29, 2024
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2 changes: 0 additions & 2 deletions boards/ark/fmu-v6x/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -85,8 +85,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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3 changes: 0 additions & 3 deletions boards/cuav/x7pro/default.px4board
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Expand Up @@ -79,7 +79,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
Expand All @@ -91,12 +90,10 @@ CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
CONFIG_EXAMPLES_FAKE_GPS=y
2 changes: 2 additions & 0 deletions boards/px4/fmu-v4pro/test.px4board
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Expand Up @@ -3,6 +3,8 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_GYRO_FFT=n
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
CONFIG_BOARD_TESTING=y
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2 changes: 2 additions & 0 deletions boards/px4/fmu-v5/cryptotest.px4board
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@@ -1,4 +1,6 @@
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_BOARD_CRYPTO=y
CONFIG_DRIVERS_STUB_KEYSTORE=y
CONFIG_DRIVERS_SW_CRYPTO=y
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1 change: 0 additions & 1 deletion boards/px4/fmu-v5x/default.px4board
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Expand Up @@ -29,7 +29,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_COMMON_INS=y
CONFIG_DRIVERS_IRLOCK=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
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1 change: 0 additions & 1 deletion boards/px4/fmu-v6x/default.px4board
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Expand Up @@ -30,7 +30,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_COMMON_INS=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
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4 changes: 4 additions & 0 deletions msg/CMakeLists.txt
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Expand Up @@ -152,6 +152,10 @@ set(msg_files
ObstacleDistance.msg
OffboardControlMode.msg
OnboardComputerStatus.msg
OpenDroneIdArmStatus.msg
OpenDroneIdOperatorId.msg
OpenDroneIdSelfId.msg
OpenDroneIdSystem.msg
OrbitStatus.msg
OrbTest.msg
OrbTestLarge.msg
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3 changes: 3 additions & 0 deletions msg/OpenDroneIdArmStatus.msg
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@@ -0,0 +1,3 @@
uint64 timestamp
uint8 status
char[50] error
4 changes: 4 additions & 0 deletions msg/OpenDroneIdOperatorId.msg
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@@ -0,0 +1,4 @@
uint64 timestamp
uint8[20] id_or_mac
uint8 operator_id_type
char[20] operator_id
4 changes: 4 additions & 0 deletions msg/OpenDroneIdSelfId.msg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
uint64 timestamp
uint8[20] id_or_mac
uint8 description_type
char[23] description
13 changes: 13 additions & 0 deletions msg/OpenDroneIdSystem.msg
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@@ -0,0 +1,13 @@
uint64 timestamp
uint8[20] id_or_mac
uint8 operator_location_type
uint8 classification_type
int32 operator_latitude
int32 operator_longitude
uint16 area_count
uint16 area_radius
float32 area_ceiling
float32 area_floor
uint8 category_eu
uint8 class_eu
float32 operator_altitude_geo
2 changes: 2 additions & 0 deletions src/drivers/uavcan/CMakeLists.txt
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Expand Up @@ -147,6 +147,8 @@ px4_add_module(
arming_status.hpp
beep.cpp
beep.hpp
remoteid.cpp
remoteid.hpp
rgbled.cpp
rgbled.hpp
safety_state.cpp
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4 changes: 4 additions & 0 deletions src/drivers/uavcan/Kconfig
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Expand Up @@ -26,6 +26,10 @@ if DRIVERS_UAVCAN
bool "Include safety state controller"
default y

config UAVCAN_REMOTEID_CONTROLLER
bool "Include remote ID controller"
default y

config UAVCAN_RGB_CONTROLLER
bool "Include rgb controller"
default y
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2 changes: 1 addition & 1 deletion src/drivers/uavcan/libuavcan
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Submodule libuavcan updated 28 files
+13 −0 README.md
+1 −1 dsdl
+1 −1 libuavcan/dsdl_compiler/pyuavcan
+17 −2 libuavcan/include/uavcan/build_config.hpp
+89 −4 libuavcan/include/uavcan/driver/can.hpp
+45 −0 libuavcan/include/uavcan/node/abstract_node.hpp
+10 −5 libuavcan/include/uavcan/node/generic_publisher.hpp
+5 −1 libuavcan/include/uavcan/node/generic_subscriber.hpp
+2 −2 libuavcan/include/uavcan/node/publisher.hpp
+2 −2 libuavcan/include/uavcan/node/service_client.hpp
+2 −2 libuavcan/include/uavcan/node/service_server.hpp
+1 −1 libuavcan/include/uavcan/protocol/dynamic_node_id_client.hpp
+2 −2 libuavcan/include/uavcan/protocol/file_server.hpp
+2 −0 libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp
+1 −1 libuavcan/include/uavcan/std.hpp
+8 −1 libuavcan/include/uavcan/transport/dispatcher.hpp
+21 −5 libuavcan/include/uavcan/transport/frame.hpp
+16 −8 libuavcan/include/uavcan/transport/transfer_listener.hpp
+6 −6 libuavcan/include/uavcan/transport/transfer_sender.hpp
+9 −0 libuavcan/include/uavcan/util/bitset.hpp
+2 −2 libuavcan/src/node/uc_generic_publisher.cpp
+5 −5 libuavcan/src/transport/uc_dispatcher.cpp
+16 −5 libuavcan/src/transport/uc_frame.cpp
+19 −14 libuavcan/src/transport/uc_transfer_listener.cpp
+15 −6 libuavcan/src/transport/uc_transfer_sender.cpp
+1 −1 libuavcan/test/transport/transfer_listener.cpp
+2 −2 libuavcan/test/transport/transfer_sender.cpp
+1 −1 libuavcan/test/transport/transfer_test_helpers.hpp
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