AP_OpenDroneID: report if we lose operator location

ArduPilot · Aug 15, 2022 · b6186db · b6186db
1 parent c955c75
commit b6186db
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Showing 2 changed files with 9 additions and 0 deletions.
diff --git a/libraries/AP_OpenDroneID/AP_OpenDroneID.cpp b/libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
@@ -195,6 +195,12 @@ void AP_OpenDroneID::send_static_out()
         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;
     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

diff --git a/libraries/AP_OpenDroneID/AP_OpenDroneID.h b/libraries/AP_OpenDroneID/AP_OpenDroneID.h
@@ -150,6 +150,9 @@ class AP_OpenDroneID
     // last time we sent a lost transmitter message
     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
     void send_dynamic_out();
     void send_static_out();