(Remote ID) Fill out and publish open drone id messages, open drone ID preflight check

[ThomasDebrunner]

Describe problem solved by this pull request

This PR adds mavlink streams for some of the Open Drone ID messages to be streamed over mavlink The messages can then be picked up by transceivers connected to the autopilot to be sent out.

This also adds a check for the heartbeat of the ODID system, as well as a pre-arm check to prevent arming in case the heartbeat is not received or does not indicate healthy.

Describe your solution

Adds mavlink streams for open drone id messages and adds a pre-arm check

[friissoren]

You probably are already aware of this but just to double check. Some additional changes to support the MAVLink OPEN_DRONE_ID_SYSTEM message for feeding dynamic operator location data from the GCS to the remote ID transmitter will also be needed, in order to be EU/US rule compliant.

But this can of course be added in a different PR. And since I only have a very limited understanding of the PX4 system architecture, of course it is also possible that this data would go directly from the GCS to the transmitter without being routed through the flight controller.

[ThomasDebrunner]

@friissoren That's a good point, in our setup, the operator location goes directly to the transmitter, but in the general case where the transmitter is only connected to an FMU telemetry port, the FMU needs to route it. I believe that should already he happening, we'll have to test

[BluemarkInnovations]

@ThomasDebrunner Can you give me some guidelines how I can test this PR with my MAVLink OpenDrone ID modules?

I tried to download PX4, switch to this PR and try to build and run the jMAVSim simulator. However, the simulator crashes on Ubuntu 22.04 after a few seconds. Also, I'm not sure if I can connect the module to the simulator in order to test the code. I can't find any references about it in the help pages. Perhaps I need to wait until my Cube hardware arrives.

[ThomasDebrunner]

@BluemarkInnovations Not sure how easy it is to test that in SITL. Do you then connect the transmitter via a USB-UART connector, or do you also run the transmitter in simulation? What's the setup here?

[BluemarkInnovations]

@ThomasDebrunner I run PIX4 in simulation/SITL and want to attach the transmitter via an USB to UART dongle.

[BluemarkInnovations]

@ThomasDebrunner I have my CubeOrangePlus finally and tried to build this PR. Can you give me some guidelines how to build?

git clone https://github.com/PX4/PX4-Autopilot.git --recursive cd PX4-Autopilot/ git checkout up-open-drone-id-publish make cubepilot_cubeorange

During compiling of the code, I get warnings about some submodules out of sync.

If I choose 'y', I get this error: ../../src/drivers/gps/gps.cpp:849:52: error: no matching function for call to 'GPSDriverUBX::GPSDriverUBX(GPSHelper::Interface&, int (*)(GPSCallbackType, void*, int, void*), GPS*, sensor_gps_s*, satellite_info_s*&, int32_t&, float&, GPSDriverUBX::UBXMode&)' 849 | gps_ubx_dynmodel, heading_offset, ubx_mode); | ^ compilation terminated due to -Wfatal-errors. [474/1102] Building CXX object src/modules/ekf2/CMakeFiles/modules__ekf2_original.dir/EKF/covariance.cpp.obj ninja: build stopped: subcommand failed. make: *** [Makefile:235: cubepilot_cubeorange] Error 1

if I choose 'u', I get this error: ../../src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp: In static member function 'static bool PreFlightCheck::preflightCheck(void**, vehicle_status_s&, vehicle_status_flags_s&, const vehicle_control_mode_s&, bool, bool, bool, bool)': ../../src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp:221:6: error: 'prearm' was not declared in this scope; did you mean 'pread'? 221 | if (prearm) { | ^~~~~~ | pread compilation terminated due to -Wfatal-errors. [631/1102] Building CXX object src/modules/commander/CMakeFiles/modules__commander.dir/Commander.cpp.obj ninja: build stopped: subcommand failed. make: *** [Makefile:235: cubepilot_cubeorange] Error 1

[BluemarkInnovations]

Extra info.

• I run it in a dedicated virtual machine with Ubuntu 20.04.
• Executed the ./Tools/setup/ubuntu.sh command
• Normal make px4_sitl jmavsim builds without any error

[dagar]

We should rebase this PR on current main, I've merged the initial mavlink stream support in https://github.com/PX4/PX4-Autopilot/pull/20348.