Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_OpenDroneID: remove Chip ID as Basic ID mechanism

This commit is contained in:
bugobliterator 2023-06-01 17:45:47 +10:00 committed by Peter Barker
parent 6b88ed007d
commit 24e5a30ad3
2 changed files with 2 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
View File

@ -67,7 +67,7 @@ const AP_Param::GroupInfo AP_OpenDroneID::var_info[] = {
// @Param: OPTIONS
// @DisplayName: OpenDroneID options
// @Description: Options for OpenDroneID subsystem
// @Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition, 2:LockUASIDOnFirstBasicIDRx, 3:UseChipIDAsBasicID
// @Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition, 2:LockUASIDOnFirstBasicIDRx
AP_GROUPINFO("OPTIONS", 4, AP_OpenDroneID, _options, 0),
// @Param: BARO_ACC
@ -135,29 +135,6 @@ void AP_OpenDroneID::set_basic_id() {
if (id_len == 0) {
load_UAS_ID_from_persistent_memory();
}
#if defined(OPENDRONEID_UA_MFR_CODE)
if ((_options & UseChipIDAsBasicID) && (id_len == 0)) {
float val;
// prepare basic id pkt
AP_Param::get("SYSID_THISMAV", val);
pkt_basic_id.target_system = val;
pkt_basic_id.target_component = MAV_COMP_ID_ODID_TXRX_1;
pkt_basic_id.id_type = MAV_ODID_ID_TYPE_SERIAL_NUMBER;
pkt_basic_id.ua_type = OPENDRONEID_UA_TYPE;
uint8_t sys_id[12];
uint8_t len = 12;
hal.util->get_system_id_unformatted(sys_id, len);
char buffer[21];
// create a unique id based on the system id, using
snprintf(buffer, sizeof(buffer), "%sE%x%x%x%x%x%x%x",
OPENDRONEID_UA_MFR_CODE,
sys_id[0], sys_id[1], sys_id[2],
sys_id[4],
sys_id[5], sys_id[6], sys_id[7]);
memcpy(pkt_basic_id.uas_id, buffer, sizeof(pkt_basic_id.uas_id));
} else
#endif
if (id_len > 0) {
// prepare basic id pkt
uint8_t val = gcs().sysid_this_mav();
@ -784,11 +761,7 @@ void AP_OpenDroneID::handle_msg(mavlink_channel_t chan, const mavlink_message_t
mavlink_msg_open_drone_id_self_id_decode(&msg, &pkt_self_id);
break;
case MAVLINK_MSG_ID_OPEN_DRONE_ID_BASIC_ID:
if (id_len == 0
#if defined(OPENDRONEID_UA_MFR_CODE)
&& !(_options & UseChipIDAsBasicID)
#endif
) {
if (id_len == 0) {
mavlink_msg_open_drone_id_basic_id_decode(&msg, &pkt_basic_id);
}
break;

1
libraries/AP_OpenDroneID/AP_OpenDroneID.h
View File

@ -122,7 +122,6 @@ private:
EnforceArming = (1U << 0U),
AllowNonGPSPosition = (1U << 1U),
LockUASIDOnFirstBasicIDRx = (1U << 2U),
UseChipIDAsBasicID = (1U << 3U),
};
// check if an option is set