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AP_OpenDroneID: report if we lose operator location

This commit is contained in:
Andrew Tridgell 2022-08-15 09:02:59 +10:00
parent c955c75b9d
commit b6186db24e
2 changed files with 9 additions and 0 deletions
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6
libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
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@ -195,6 +195,12 @@ void AP_OpenDroneID::send_static_out()
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ODID: transmitter OK"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ODID: transmitter OK");
} }
// we need to notify user if we lost system msg with operator location
if (now_ms - last_system_ms > 5000 && now_ms - last_lost_operator_msg_ms > 5000) {
last_lost_operator_msg_ms = now_ms;
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "ODID: lost operator location");
}
const uint32_t msg_spacing_ms = _mavlink_static_period_ms / 4; const uint32_t msg_spacing_ms = _mavlink_static_period_ms / 4;
if (now_ms - last_msg_send_ms >= msg_spacing_ms) { if (now_ms - last_msg_send_ms >= msg_spacing_ms) {
// allow update of channel during setup, this makes it easy to debug with a GCS // allow update of channel during setup, this makes it easy to debug with a GCS

3
libraries/AP_OpenDroneID/AP_OpenDroneID.h
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@ -150,6 +150,9 @@ private:
// last time we sent a lost transmitter message // last time we sent a lost transmitter message
uint32_t last_lost_tx_ms; uint32_t last_lost_tx_ms;
// last time we sent a lost operator location notice
uint32_t last_lost_operator_msg_ms;
// transmit functions to manually send a static MAVLink message // transmit functions to manually send a static MAVLink message
void send_dynamic_out(); void send_dynamic_out();
void send_static_out(); void send_static_out();