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| Original file line number | Diff line number | Diff line change |
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| # ID Open | ||
| An Arduino/ESP32 class to act as a wrapper around opendroneid. | ||
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| Supports BLE 4, WiFi NAN and WiFi beacon. | ||
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| Runs on a cheap ESP32 dev board. | ||
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| Needs opendroneid.c, opendroneid.h, odid_wifi.h and wifi.c from [opendroneid](https://github.com/opendroneid/opendroneid-core-c/tree/master/libopendroneid) to be copied into the id_open directory. | ||
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| Last tested with opendroneid release 2.0. | ||
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| If you are thinking of using this to make remote IDs for use in the US or EU, there are problems. | ||
| * It looks like both of these jurisdictions are going to require IDs to transmit ANSI/CTA serial numbers. (See the table at the bottom of [this page](https://github.com/opendroneid/opendroneid-core-c/).) | ||
| * The FAA are requiring remote IDs to be tamper resistant (see their [acceptance of the ASTM Means of Compliance](https://www.federalregister.gov/documents/2022/08/11/2022-16997/accepted-means-of-compliance-remote-identification-of-unmanned-aircraft) ). I don't see how this can be done with an open source, home built ID. | ||
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| There is a report of an ESP32 that will not simultaneously do WiFi and Bluetooth remote ID (see issue #18). If your ESP32 goes into a reboot loop when both are enabled, try one or the other. This may be related to the ESP IDF version. |
212 changes: 212 additions & 0 deletions
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software/firmware/source/libraries/OpenDroneID/examples/buckminster/buckminster.ino
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| /* -*- tab-width: 2; mode: c; -*- | ||
| * | ||
| * Points around the BMFA's Buckminster flying centre. | ||
| * | ||
| */ | ||
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| #pragma GCC diagnostic warning "-Wunused-variable" | ||
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| #include <Arduino.h> | ||
| #include <math.h> | ||
| #include <time.h> | ||
| #include <sys/time.h> | ||
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| #include "id_open.h" | ||
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| #define WAYPOINTS 6 | ||
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| static ID_OpenDrone squitter; | ||
| static UTM_Utilities utm_utils; | ||
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| static struct UTM_parameters utm_parameters; | ||
| static struct UTM_data utm_data; | ||
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| static int speed_kn = 40, waypoint = 0; | ||
| static float z = 100.0; | ||
| static double deg2rad = 0.0, m_deg_lat = 0.0, m_deg_long = 0.0; | ||
| static double latitude[WAYPOINTS], longitude[WAYPOINTS]; | ||
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| void setup() { | ||
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| char text[64]; | ||
| double lat_d, long_d; | ||
| time_t time_2; | ||
| struct tm clock_tm; | ||
| struct timeval tv = {0,0}; | ||
| struct timezone utc = {0,0}; | ||
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| // | ||
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| Serial.begin(115200); | ||
| Serial.print("\nSerial\n\n\r"); | ||
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| // Do not use Serial1 if using an ESP32. | ||
| #if defined(ARDUINO_ARCH_RP2040) | ||
| Serial1.begin(115200); | ||
| Serial1.print("\nSerial1\n\n\r"); | ||
| #endif | ||
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| #if 0 | ||
| Serial2.begin(115200); | ||
| Serial2.print("\nSerial2\n\n\r"); | ||
| #endif | ||
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| deg2rad = (4.0 * atan(1.0)) / 180.0; | ||
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| // | ||
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| memset(&clock_tm,0,sizeof(struct tm)); | ||
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| clock_tm.tm_hour = 10; | ||
| clock_tm.tm_mday = 27; | ||
| clock_tm.tm_mon = 11; | ||
| clock_tm.tm_year = 122; | ||
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| tv.tv_sec = | ||
| time_2 = mktime(&clock_tm); | ||
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| settimeofday(&tv,&utc); | ||
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| delay(500); | ||
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| Serial.print(ctime(&time_2)); | ||
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| // | ||
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| memset(&utm_parameters,0,sizeof(utm_parameters)); | ||
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| #if 0 | ||
| strcpy(utm_parameters.UAS_operator,"GBR-OP-1234ABCDEFGH"); | ||
| #elif defined(ARDUINO_ARCH_ESP32) | ||
| strcpy(utm_parameters.UAS_operator,"GBR-OP-ESP32"); | ||
| #elif defined(ARDUINO_ARCH_ESP8266) | ||
| strcpy(utm_parameters.UAS_operator,"GBR-OP-ESP8266"); | ||
| #elif defined(ARDUINO_ARCH_RP2040) | ||
| strcpy(utm_parameters.UAS_operator,"GBR-OP-PICOW"); | ||
| #else | ||
| strcpy(utm_parameters.UAS_operator,"GBR-OP-UNKNOWN"); | ||
| #endif | ||
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| utm_parameters.region = 1; | ||
| utm_parameters.EU_category = 1; | ||
| utm_parameters.EU_class = 5; | ||
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| squitter.init(&utm_parameters); | ||
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| memset(&utm_data,0,sizeof(utm_data)); | ||
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| // | ||
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| latitude[0] = 52.0 + (46.0 / 60.0) + (49.27 / 3600.0); | ||
| longitude[0] = 0.0 - (42.0 / 60.0) - (27.73 / 3600.0); | ||
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| latitude[1] = 52.0 + (46.0 / 60.0) + (51.91 / 3600.0); | ||
| longitude[1] = 0.0 - (42.0 / 60.0) - (20.74 / 3600.0); | ||
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| latitude[2] = 52.0 + (46.0 / 60.0) + (48.80 / 3600.0); | ||
| longitude[2] = 0.0 - (42.0 / 60.0) - (33.52 / 3600.0); | ||
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| latitude[3] = 52.0 + (46.0 / 60.0) + (50.89 / 3600.0); | ||
| longitude[3] = 0.0 - (42.0 / 60.0) - (36.58 / 3600.0); | ||
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| latitude[4] = 52.0 + (46.0 / 60.0) + (54.11 / 3600.0); | ||
| longitude[4] = 0.0 - (42.0 / 60.0) - (29.52 / 3600.0); | ||
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| latitude[5] = 52.0 + (46.0 / 60.0) + (55.54 / 3600.0); | ||
| longitude[5] = 0.0 - (42.0 / 60.0) - (20.00 / 3600.0); | ||
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| // | ||
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| utm_data.latitude_d = latitude[1]; | ||
| utm_data.longitude_d = longitude[1]; | ||
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| lat_d = | ||
| utm_data.base_latitude = latitude[0]; | ||
| long_d = | ||
| utm_data.base_longitude = longitude[0]; | ||
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| utm_data.base_alt_m = 137.0; | ||
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| utm_data.alt_msl_m = utm_data.base_alt_m + z; | ||
| utm_data.alt_agl_m = z; | ||
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| utm_data.speed_kn = speed_kn; | ||
| utm_data.satellites = 12; | ||
| utm_data.base_valid = 1; | ||
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| // | ||
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| utm_utils.calc_m_per_deg(lat_d,&m_deg_lat,&m_deg_long); | ||
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| // | ||
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| Serial.print("\r\n"); | ||
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| sprintf(text,"%d degrees/radian\r\n",(int) (1.0 / deg2rad)); | ||
| Serial.print(text); | ||
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| sprintf(text,"%d m per degree latitude\r\n",(int) m_deg_lat); | ||
| Serial.print(text); | ||
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| sprintf(text,"%d m per degree longitude\r\n",(int) m_deg_long); | ||
| Serial.print(text); | ||
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| Serial.print("\r\n"); | ||
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| // | ||
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| srand(micros()); | ||
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| return; | ||
| } | ||
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| // | ||
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| void loop() { | ||
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| char text[64], lat_s[16], long_s[16]; | ||
| uint32_t msecs; | ||
| time_t time_2; | ||
| struct tm *gmt; | ||
| static uint32_t last_update = 0, last_waypoint = 0; | ||
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| msecs = millis(); | ||
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| if ((msecs - last_waypoint) > 9999) { | ||
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| last_waypoint = msecs; | ||
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| utm_data.latitude_d = latitude[waypoint]; | ||
| utm_data.longitude_d = longitude[waypoint]; | ||
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| dtostrf(utm_data.latitude_d,10,7,lat_s); | ||
| dtostrf(utm_data.longitude_d,10,7,long_s); | ||
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| #if 1 | ||
| sprintf(text,"%d,%s,%s,%d,%d\r\n", | ||
| waypoint,lat_s,long_s,utm_data.heading,utm_data.speed_kn); | ||
| Serial.print(text); | ||
| #endif | ||
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| if (++waypoint >= WAYPOINTS) { | ||
| waypoint = 1; | ||
| } | ||
| } | ||
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| if ((msecs - last_update) > 24) { | ||
| last_update = msecs; | ||
| time(&time_2); | ||
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| gmt = gmtime(&time_2); | ||
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| utm_data.seconds = gmt->tm_sec; | ||
| utm_data.minutes = gmt->tm_min; | ||
| utm_data.hours = gmt->tm_hour; | ||
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| squitter.transmit(&utm_data); | ||
| } | ||
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| return; | ||
| } | ||
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| // |
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