BluemarkInnovations
commented
1 year ago This is the final PR for this functionality.
The implementation has changed a bit.
- The first basic ID message is always based on the one set in the parameters.
- The second basic ID message is received from MAVLink or DroneCAN. If none is received, the second basic ID from the parameters is used.
- This setup makes the implementation more straight forward and prevents to override the basic ID, set by the parameters (tamper proof).
- The second basic ID can be set by the MAVLink or DroneCAN and is useful if one needs to set a temporarily ID.
- tested via mavproxy and setting UAS_ID field
the implementation decodes basic ID messages from MAVLink or DroneCAN. In case, there are more than 2 basic IDs, it will overwrite always the second basic ID and keeps the first basic ID unchanged. E.g. if 4 basic IDs are transported via MAVLink/ DroneCAN, the first basic ID will be the first received basic ID message. The second basic ID will be continuously overwritten by the 2nd, 3rd and 4th basic ID messages.not tested yet, but compiles without errors