mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add support for storing OpenDroneID in bootloader sector
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@ -34,6 +34,7 @@
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#endif
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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_OpenDroneID/AP_OpenDroneID.h>
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#endif
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#ifndef HAL_BOOTLOADER_BUILD
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#include <AP_Logger/AP_Logger.h>
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@ -49,6 +50,7 @@ extern AP_IOMCU iomcu;
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#include <AP_CheckFirmware/AP_CheckFirmware.h>
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#endif
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extern const AP_HAL::HAL& hal;
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using namespace ChibiOS;
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@ -526,6 +528,12 @@ bool Util::get_persistent_params(ExpandingString &str) const
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if (ins) {
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ins->get_persistent_params(str);
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}
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#endif
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#if AP_OPENDRONEID_ENABLED
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const auto *odid = AP_OpenDroneID::get_singleton();
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if (odid) {
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odid->get_persistent_params(str);
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}
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#endif
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if (str.has_failed_allocation() || str.get_length() <= strlen(persistent_header)) {
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// no data
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@ -13,9 +13,9 @@ SERIAL5_PROTOCOL 1
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# enforce OpenDroneID on DroneCAN. Note that we need to lock down key parameters
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# to ensure the integrity of the RemoteID system
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DID_ENABLE 1 @READONLY
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DID_OPTIONS 1 @READONLY
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DID_MAVPORT -1 @READONLY
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DID_CANDRIVER 1 @READONLY
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DID_OPTIONS 5 @READONLY
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DID_MAVPORT 1 @READONLY
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DID_CANDRIVER 0 @READONLY
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AHRS_EKF_TYPE 3 @READONLY
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GPS_TYPE 1
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GPS_TYPE2 0
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@ -4,7 +4,28 @@ include ../CubeOrange/hwdef.dat
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# the firmware without OpenDroneID enabled
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APJ_BOARD_ID 10140
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# Set the four character UA MFR Code based on the ICAO assigned ID
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# rest of the id will be inferred from the unique chip id
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define OPENDRONEID_UA_MFR_CODE "MFR1"
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# Set the UA Type, possible values:
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# 0: reserved
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# 1: Aeroplane
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# 2: Helicopter or Multirotor
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# 3: Gyroplane
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# 4: Hybrid Lift
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# 5: Ornithopter
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# 6: Glider
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# 7: Kite
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# 8: Free Balloon
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# 9: Captive Balloon
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# 10: Airship
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# 11: Free Fall/Parachute
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# 12: Rocket
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# 13: Tethered Powered Aircraft
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# 14: Ground Obstacle
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# 15: Other
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define OPENDRONEID_UA_TYPE 1
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# enable and enforce OpenDroneID
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define AP_OPENDRONEID_ENABLED 1
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