AP_HAL_ChibiOS: add support for storing OpenDroneID in bootloader sector

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -34,6 +34,7 @@
 #endif
 #if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
 #include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_OpenDroneID/AP_OpenDroneID.h>
 #endif
 #ifndef HAL_BOOTLOADER_BUILD
 #include <AP_Logger/AP_Logger.h>
@@ -49,6 +50,7 @@ extern AP_IOMCU iomcu;
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
 #endif
 
+
 extern const AP_HAL::HAL& hal;
 
 using namespace ChibiOS;
@@ -526,6 +528,12 @@ bool Util::get_persistent_params(ExpandingString &str) const
     if (ins) {
         ins->get_persistent_params(str);
     }
+#endif
+#if AP_OPENDRONEID_ENABLED
+    const auto *odid = AP_OpenDroneID::get_singleton();
+    if (odid) {
+        odid->get_persistent_params(str);
+    }
 #endif
     if (str.has_failed_allocation() || str.get_length() <= strlen(persistent_header)) {
         // no data

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/defaults.parm

@@ -13,9 +13,9 @@ SERIAL5_PROTOCOL 1
 # enforce OpenDroneID on DroneCAN. Note that we need to lock down key parameters
 # to ensure the integrity of the RemoteID system
 DID_ENABLE 1 @READONLY
-DID_OPTIONS 1 @READONLY
-DID_MAVPORT -1 @READONLY
-DID_CANDRIVER 1 @READONLY
+DID_OPTIONS 5 @READONLY
+DID_MAVPORT 1 @READONLY
+DID_CANDRIVER 0 @READONLY
 AHRS_EKF_TYPE 3 @READONLY
 GPS_TYPE 1
 GPS_TYPE2 0

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-ODID/hwdef.dat

@@ -4,7 +4,28 @@ include ../CubeOrange/hwdef.dat
 # the firmware without OpenDroneID enabled
 APJ_BOARD_ID 10140
 
+# Set the four character UA MFR Code based on the ICAO assigned ID
+# rest of the id will be inferred from the unique chip id
+define OPENDRONEID_UA_MFR_CODE "MFR1"
+
+# Set the UA Type, possible values:
+# 0: reserved
+# 1: Aeroplane
+# 2: Helicopter or Multirotor
+# 3: Gyroplane
+# 4: Hybrid Lift
+# 5: Ornithopter
+# 6: Glider
+# 7: Kite
+# 8: Free Balloon
+# 9: Captive Balloon
+# 10: Airship
+# 11: Free Fall/Parachute
+# 12: Rocket
+# 13: Tethered Powered Aircraft
+# 14: Ground Obstacle
+# 15: Other
+define OPENDRONEID_UA_TYPE 1
+
 # enable and enforce OpenDroneID
 define AP_OPENDRONEID_ENABLED 1
-
-