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AP_OpenDroneID: fixed checking of payload space 

this fixes DroneCAN operation without a mavlink channel set
This commit is contained in:
Andrew Tridgell 2022-08-15 06:23:35 +10:00
parent d092e767ea
commit 673fed92c7
1 changed files with 10 additions and 6 deletions
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16
libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
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@ -158,18 +158,22 @@ void AP_OpenDroneID::update()
send_static_out();
}
// local payload space check which treats invalid channel as having space
// needed to populate the message structures for the DroneCAN backend
#define ODID_HAVE_PAYLOAD_SPACE(id) (_chan == MAV_CHAN_INVALID || HAVE_PAYLOAD_SPACE(_chan, id))
void AP_OpenDroneID::send_dynamic_out()
{
const uint32_t now = AP_HAL::millis();
if (now - _last_send_location_ms >= _mavlink_dynamic_period_ms &&
HAVE_PAYLOAD_SPACE(_chan, OPEN_DRONE_ID_LOCATION)) {
ODID_HAVE_PAYLOAD_SPACE(OPEN_DRONE_ID_LOCATION)) {
_last_send_location_ms = now;
send_location_message();
}
// operator location needs to be sent at the same rate as location for FAA compliance
if (now - _last_send_system_update_ms >= _mavlink_dynamic_period_ms &&
HAVE_PAYLOAD_SPACE(_chan, OPEN_DRONE_ID_SYSTEM_UPDATE)) {
ODID_HAVE_PAYLOAD_SPACE(OPEN_DRONE_ID_SYSTEM_UPDATE)) {
_last_send_system_update_ms = now;
send_system_update_message();
}
@ -198,25 +202,25 @@ void AP_OpenDroneID::send_static_out()
bool sent_ok = false;
switch (next_msg_to_send) {
case NEXT_MSG_BASIC_ID:
if (HAVE_PAYLOAD_SPACE(_chan, OPEN_DRONE_ID_BASIC_ID)) {
if (ODID_HAVE_PAYLOAD_SPACE(OPEN_DRONE_ID_BASIC_ID)) {
send_basic_id_message();
sent_ok = true;
}
break;
case NEXT_MSG_SYSTEM:
if (HAVE_PAYLOAD_SPACE(_chan, OPEN_DRONE_ID_SYSTEM)) {
if (ODID_HAVE_PAYLOAD_SPACE(OPEN_DRONE_ID_SYSTEM)) {
send_system_message();
sent_ok = true;
}
break;
case NEXT_MSG_SELF_ID:
if (HAVE_PAYLOAD_SPACE(_chan, OPEN_DRONE_ID_SELF_ID)) {
if (ODID_HAVE_PAYLOAD_SPACE(OPEN_DRONE_ID_SELF_ID)) {
send_self_id_message();
sent_ok = true;
}
break;
case NEXT_MSG_OPERATOR_ID:
if (HAVE_PAYLOAD_SPACE(_chan, OPEN_DRONE_ID_OPERATOR_ID)) {
if (ODID_HAVE_PAYLOAD_SPACE(OPEN_DRONE_ID_OPERATOR_ID)) {
send_operator_id_message();
sent_ok = true;
}