Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

store static fields of the system message in parameters #136

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

store static fields of the system message in parameters #136

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
38 changes: 38 additions & 0 deletions RemoteIDModule/DroneCAN.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -543,6 +543,44 @@ void DroneCAN::handle_System(CanardRxTransfer* transfer)
COPY_FIELD(class_eu);
COPY_FIELD(operator_altitude_geo);
COPY_FIELD(timestamp);

//save values to parameters if they are different + check range
if (system.class_eu != g.class_eu) {
if (system.class_eu <= 3) {
g.class_eu = system.class_eu;
}
}
if (system.category_eu != g.category_eu) {
if (system.category_eu <= 7) {
g.category_eu = system.category_eu;
}
}
if (system.classification_type != g.classification_type) {
if (system.classification_type <= 1) {
g.classification_type = system.classification_type;
}
}
if (system.operator_location_type != g.operator_location_type) {
if (system.operator_location_type <= 2) {
g.operator_location_type = system.operator_location_type;
}
}
if (system.area_count != g.area_count) {
if (system.area_count <= 65000) {
g.area_count = system.area_count;
}
}
if (system.area_radius != g.area_radius) {
if (system.area_radius <= 250){
g.area_radius = system.area_radius;
}
}
if (system.area_ceiling != g.area_ceiling) {
g.area_ceiling = system.area_ceiling;
}
if (system.area_floor != g.area_floor) {
g.area_floor = system.area_floor;
}
}

void DroneCAN::handle_OperatorID(CanardRxTransfer* transfer)
Expand Down
17 changes: 9 additions & 8 deletions RemoteIDModule/RemoteIDModule.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -288,16 +288,17 @@ static void set_data(Transport &t)

// System
if (system.timestamp != 0) {
UAS_data.System.OperatorLocationType = (ODID_operator_location_type_t)system.operator_location_type;
UAS_data.System.ClassificationType = (ODID_classification_type_t)system.classification_type;
UAS_data.System.OperatorLocationType = (ODID_operator_location_type_t)g.operator_location_type;
UAS_data.System.ClassificationType = (ODID_classification_type_t)g.classification_type;
UAS_data.System.OperatorLatitude = system.operator_latitude * 1.0e-7;
UAS_data.System.OperatorLongitude = system.operator_longitude * 1.0e-7;
UAS_data.System.AreaCount = system.area_count;
UAS_data.System.AreaRadius = system.area_radius;
UAS_data.System.AreaCeiling = system.area_ceiling;
UAS_data.System.AreaFloor = system.area_floor;
UAS_data.System.CategoryEU = (ODID_category_EU_t)system.category_eu;
UAS_data.System.ClassEU = (ODID_class_EU_t)system.class_eu;

UAS_data.System.AreaCount = g.area_count;
UAS_data.System.AreaRadius = g.area_radius;
UAS_data.System.AreaCeiling = g.area_ceiling;
UAS_data.System.AreaFloor = g.area_floor;
UAS_data.System.CategoryEU = (ODID_category_EU_t)g.category_eu;
UAS_data.System.ClassEU = (ODID_class_EU_t)g.class_eu;
UAS_data.System.OperatorAltitudeGeo = system.operator_altitude_geo;
UAS_data.System.Timestamp = system.timestamp;
UAS_data.SystemValid = 1;
Expand Down
38 changes: 38 additions & 0 deletions RemoteIDModule/mavlink.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,44 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
//only update the timestamp if we receive information with a different timestamp
last_system_ms = millis();
last_system_timestamp = system.timestamp;

//save values to parameters if they are different + check range
if (system.class_eu != g.class_eu) {
if (system.class_eu <= 3) {
g.class_eu = system.class_eu;
}
}
if (system.category_eu != g.category_eu) {
if (system.category_eu <= 7) {
g.category_eu = system.category_eu;
}
}
if (system.classification_type != g.classification_type) {
if (system.classification_type <= 1) {
g.classification_type = system.classification_type;
}
}
if (system.operator_location_type != g.operator_location_type) {
if (system.operator_location_type <= 2) {
g.operator_location_type = system.operator_location_type;
}
}
if (system.area_count != g.area_count) {
if (system.area_count <= 65000) {
g.area_count = system.area_count;
}
}
if (system.area_radius != g.area_radius) {
if (system.area_radius <= 250){
g.area_radius = system.area_radius;
}
}
if (system.area_ceiling != g.area_ceiling) {
g.area_ceiling = system.area_ceiling;
}
if (system.area_floor != g.area_floor) {
g.area_floor = system.area_floor;
}
}
break;
}
Expand Down
8 changes: 8 additions & 0 deletions RemoteIDModule/parameters.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,14 @@ const Parameters::Param Parameters::params[] = {
{ "UAS_TYPE_2", Parameters::ParamType::UINT8, (const void*)&g.ua_type_2, 0, 0, 15 },
{ "UAS_ID_TYPE_2", Parameters::ParamType::UINT8, (const void*)&g.id_type_2, 0, 0, 4 },
{ "UAS_ID_2", Parameters::ParamType::CHAR20, (const void*)&g.uas_id_2[0], 0, 0, 0 },
{ "EU_CLASS", Parameters::ParamType::UINT8, (const void*)&g.class_eu, 0, 0, 3 },
{ "EU_CATEGORY", Parameters::ParamType::UINT8, (const void*)&g.category_eu, 0, 0, 7 },
{ "CLASSIFICATION", Parameters::ParamType::UINT8, (const void*)&g.classification_type, 0, 0, 1 },
{ "OP_LOC_TYPE", Parameters::ParamType::UINT8, (const void*)&g.operator_location_type, 0, 0, 2 },
{ "AREA_COUNT", Parameters::ParamType::UINT32, (const void*)&g.area_count, 1, 1, 65000 }, //based on F3411-22 range
{ "AREA_RADIUS", Parameters::ParamType::UINT8, (const void*)&g.area_radius, 0, 0, 250 }, //based on F3411-22 range
{ "AREA_CEILING", Parameters::ParamType::UINT32, (const void*)&g.area_ceiling, 0, 0, 65535 }, //based on F3411-22 range
{ "AREA_FLOOR", Parameters::ParamType::UINT32, (const void*)&g.area_floor, 0, 0, 65535 }, //based on F3411-22 range
{ "BAUDRATE", Parameters::ParamType::UINT32, (const void*)&g.baudrate, 57600, 9600, 921600 },
{ "WIFI_NAN_RATE", Parameters::ParamType::FLOAT, (const void*)&g.wifi_nan_rate, 0, 0, 5 },
{ "WIFI_BCN_RATE", Parameters::ParamType::FLOAT, (const void*)&g.wifi_beacon_rate, 0, 0, 5 },
Expand Down
8 changes: 8 additions & 0 deletions RemoteIDModule/parameters.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,14 @@ class Parameters {
uint8_t ua_type_2;
uint8_t id_type_2;
char uas_id_2[21] = "ABCD123456789";
uint8_t class_eu;
uint8_t category_eu;
uint8_t classification_type;
uint8_t operator_location_type;
uint16_t area_count;
uint8_t area_radius;
uint16_t area_ceiling;
uint16_t area_floor;
float wifi_nan_rate;
float wifi_beacon_rate;
float wifi_power;
Expand Down
Loading