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print received Remote ID messages on serial console for both MAVLink and DroneCAN #100

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merged 1 commit into from
Oct 16, 2023
Merged

print received Remote ID messages on serial console for both MAVLink and DroneCAN #100

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12 changes: 6 additions & 6 deletions RemoteIDModule/DroneCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -153,28 +153,28 @@ void DroneCAN::onTransferReceived(CanardInstance* ins,
handle_get_node_info(ins, transfer);
break;
case UAVCAN_PROTOCOL_RESTARTNODE_ID:
Serial.printf("RestartNode\n");
Serial.printf("DroneCAN: restartNode\n");
delay(20);
esp_restart();
break;
case DRONECAN_REMOTEID_BASICID_ID:
Serial.printf("Got BasicID\n");
Serial.printf("DroneCAN: got BasicID\n");
handle_BasicID(transfer);
break;
case DRONECAN_REMOTEID_LOCATION_ID:
Serial.printf("Got Location\n");
Serial.printf("DroneCAN: got Location\n");
handle_Location(transfer);
break;
case DRONECAN_REMOTEID_SELFID_ID:
Serial.printf("Got SelfID\n");
Serial.printf("DroneCAN: got SelfID\n");
handle_SelfID(transfer);
break;
case DRONECAN_REMOTEID_SYSTEM_ID:
Serial.printf("Got System\n");
Serial.printf("DroneCAN: got System\n");
handle_System(transfer);
break;
case DRONECAN_REMOTEID_OPERATORID_ID:
Serial.printf("Got OperatorID\n");
Serial.printf("DroneCAN: got OperatorID\n");
handle_OperatorID(transfer);
break;
case UAVCAN_PROTOCOL_PARAM_GETSET_ID:
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21 changes: 21 additions & 0 deletions RemoteIDModule/mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,6 +144,9 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
}
case MAVLINK_MSG_ID_OPEN_DRONE_ID_LOCATION: {
mavlink_msg_open_drone_id_location_decode(&msg, &location);
if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
Serial.printf("MAVLink: got Location\n");
}
if (last_location_timestamp != location.timestamp) {
//only update the timestamp if we receive information with a different timestamp
last_location_ms = millis();
Expand All @@ -154,6 +157,9 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
}
case MAVLINK_MSG_ID_OPEN_DRONE_ID_BASIC_ID: {
mavlink_open_drone_id_basic_id_t basic_id_tmp;
if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
Serial.printf("MAVLink: got BasicID\n");
}
mavlink_msg_open_drone_id_basic_id_decode(&msg, &basic_id_tmp);
if ((strlen((const char*) basic_id_tmp.uas_id) > 0) && (basic_id_tmp.id_type > 0) && (basic_id_tmp.id_type <= MAV_ODID_ID_TYPE_SPECIFIC_SESSION_ID)) {
//only update if we receive valid data
Expand All @@ -164,15 +170,24 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
}
case MAVLINK_MSG_ID_OPEN_DRONE_ID_AUTHENTICATION: {
mavlink_msg_open_drone_id_authentication_decode(&msg, &authentication);
if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
Serial.printf("MAVLink: got Auth\n");
}
break;
}
case MAVLINK_MSG_ID_OPEN_DRONE_ID_SELF_ID: {
mavlink_msg_open_drone_id_self_id_decode(&msg, &self_id);
if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
Serial.printf("MAVLink: got SelfID\n");
}
last_self_id_ms = now_ms;
break;
}
case MAVLINK_MSG_ID_OPEN_DRONE_ID_SYSTEM: {
mavlink_msg_open_drone_id_system_decode(&msg, &system);
if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
Serial.printf("MAVLink: got System\n");
}
if ((last_system_timestamp != system.timestamp) || (system.timestamp == 0)) {
//only update the timestamp if we receive information with a different timestamp
last_system_ms = millis();
Expand All @@ -181,6 +196,9 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
break;
}
case MAVLINK_MSG_ID_OPEN_DRONE_ID_SYSTEM_UPDATE: {
if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
Serial.printf("MAVLink: got System update\n");
}
mavlink_open_drone_id_system_update_t pkt_system_update;
mavlink_msg_open_drone_id_system_update_decode(&msg, &pkt_system_update);
system.operator_latitude = pkt_system_update.operator_latitude;
Expand All @@ -201,6 +219,9 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
}
case MAVLINK_MSG_ID_OPEN_DRONE_ID_OPERATOR_ID: {
mavlink_msg_open_drone_id_operator_id_decode(&msg, &operator_id);
if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
Serial.printf("MAVLink: got OperatorID\n");
}
last_operator_id_ms = now_ms;
break;
}
Expand Down
5 changes: 3 additions & 2 deletions RemoteIDModule/parameters.h
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,8 @@ class Parameters {
};

// bits for OPTIONS parameter
#define OPTIONS_FORCE_ARM_OK 1U<<0
#define OPTIONS_DONT_SAVE_BASIC_ID_TO_PARAMETERS 1U<<1
#define OPTIONS_FORCE_ARM_OK (1U<<0)
#define OPTIONS_DONT_SAVE_BASIC_ID_TO_PARAMETERS (1U<<1)
#define OPTIONS_PRINT_RID_MAVLINK (1U<<2)

extern Parameters g;
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