commander: add Open Drone ID arming check (#21652)

src/lib/events/enums.json

@@ -240,6 +240,10 @@
                         "536870912": {
                             "name": "gyro",
                             "description": "Gyroscope"
+                        },
+                        "1073741824": {
+                            "name": "open_drone_id",
+                            "description": "Open Drone ID system"
                         }
                     }
                 },

src/modules/commander/HealthAndArmingChecks/CMakeLists.txt

@@ -61,6 +61,7 @@ px4_add_library(health_and_arming_checks
 	checks/rcAndDataLinkCheck.cpp
 	checks/vtolCheck.cpp
 	checks/offboardCheck.cpp
+	checks/openDroneIDCheck.cpp
 )
 add_dependencies(health_and_arming_checks mode_util)
 

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -67,6 +67,7 @@
 #include "checks/rcAndDataLinkCheck.hpp"
 #include "checks/vtolCheck.hpp"
 #include "checks/offboardCheck.hpp"
+#include "checks/openDroneIDCheck.hpp"
 
 class HealthAndArmingChecks : public ModuleParams
 {
@@ -126,6 +127,7 @@ class HealthAndArmingChecks : public ModuleParams
 	ManualControlChecks _manual_control_checks;
 	HomePositionChecks _home_position_checks;
 	ModeChecks _mode_checks;
+	OpenDroneIDChecks _open_drone_id_checks;
 	ParachuteChecks _parachute_checks;
 	PowerChecks _power_checks;
 	RcCalibrationChecks _rc_calibration_checks;
@@ -140,7 +142,7 @@ class HealthAndArmingChecks : public ModuleParams
 	VtolChecks _vtol_checks;
 	OffboardChecks _offboard_checks;
 
-	HealthAndArmingCheckBase *_checks[30] = {
+	HealthAndArmingCheckBase *_checks[31] = {
 		&_accelerometer_checks,
 		&_airspeed_checks,
 		&_baro_checks,
@@ -157,6 +159,7 @@ class HealthAndArmingChecks : public ModuleParams
 		&_mission_checks,
 		&_offboard_checks, // must be after _estimator_checks
 		&_mode_checks, // must be after _estimator_checks, _home_position_checks, _mission_checks, _offboard_checks
+		&_open_drone_id_checks,
 		&_parachute_checks,
 		&_power_checks,
 		&_rc_calibration_checks,

src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "openDroneIDCheck.hpp"
+
+
+void OpenDroneIDChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	// Check to see if the check has been disabled
+	if (!_param_com_arm_odid.get()) {
+		return;
+	}
+
+	NavModes affected_modes{NavModes::None};
+
+	if (_param_com_arm_odid.get() == 2) {
+		// disallow arming without the Open Drone ID system
+		affected_modes = NavModes::All;
+	}
+
+	if (!context.status().open_drone_id_system_present) {
+		/* EVENT
+		 * @description
+		 * Open Drone ID system failed to report. Make sure it is setup and installed properly.
+		 *
+		 * <profile name="dev">
+		 * This check can be configured via <param>COM_ARM_ODID</param> parameter.
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id,
+					    events::ID("check_open_drone_id_missing"),
+					    events::Log::Error, "Open Drone ID system missing");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system missing");
+		}
+
+	} else if (!context.status().open_drone_id_system_healthy) {
+		/* EVENT
+		 * @description
+		 * Open Drone ID system reported being unhealthy.
+		 *
+		 * <profile name="dev">
+		 * This check can be configured via <param>COM_ARM_ODID</param> parameter.
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id,
+					    events::ID("check_open_drone_id_unhealthy"),
+					    events::Log::Error, "Open Drone ID system not ready");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system not ready");
+		}
+
+	}
+}

src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.hpp

@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "../Common.hpp"
+
+class OpenDroneIDChecks : public HealthAndArmingCheckBase
+{
+public:
+	OpenDroneIDChecks() = default;
+	~OpenDroneIDChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::COM_ARM_ODID>) _param_com_arm_odid
+				       )
+};

src/modules/commander/commander_params.c

@@ -1003,6 +1003,20 @@ PARAM_DEFINE_INT32(COM_ARM_SDCARD, 1);
  */
 PARAM_DEFINE_INT32(COM_ARM_HFLT_CHK, 1);
 
+/**
+ * Enable Drone ID system detection and health check
+ *
+ * This check detects if the Open Drone ID system is missing.
+ * Depending on the value of the parameter, the check can be
+ * disabled, warn only or deny arming.
+ *
+ * @group Commander
+ * @value 0 Disabled
+ * @value 1 Warning only
+ * @value 2 Enforce Open Drone ID system presence
+ */
+PARAM_DEFINE_INT32(COM_ARM_ODID, 0);
+
 /**
  * Enforced delay between arming and further navigation
  *