# ArduPilot RemoteID Transmitter

This is an implementation of a MAVLink and DroneCAN OpenDroneID
transmitter. It aims to provide a transmitter solution for the FAA
standard RemoteID requrement.

## Hardware Supported

So far the only hardware that has been tested is the ESP32-S3. This
devboard is being used:
https://au.mouser.com/ProductDetail/356-ESP32S3DEVKTM1N8

Hardware from https://wurzbachelectronics.com/ and
https://bluemark.io/ is expected to work and will be tested soon.

The pins assumed in this firmware are:

 - UART TX on pin 17
 - UART RX on pin 18
 - CAN TX on pin 47
 - CAN RX on pin 38

For CAN a suitable 1MBit bxCAN transceiver needs to be connected to
the CAN TX/RX pins.

## Protocols

This firmware supports communication with an ArduPilot flight
controller either using MAVLink or DroneCAN.

For MAVLink the following service is used:
https://mavlink.io/en/services/opendroneid.html

For DroneCAN the following messages are used:
https://github.com/dronecan/DSDL/tree/master/dronecan/remoteid

The DroneCAN messages are an exact mirror of the MAVLink messages to
make a dual-transport implementation easy.

## Releases

Pre-built releases are in the releases folder on github

## Flashing

To flash to an ESP32-S3 board use the espressif FlashTool from
https://www.espressif.com/en/support/download/other-tools

and use the pre-built binary in the releases folder then flash using
the following options:

![Flashing with FlashTool](images/FlashTool.jpg "Flashing")


## Building from Sources under linux:

get prerequisites:
sudo apt install arduino
pip install pymavlink

get code:
cd ~
git clone https://github.com/ardupilot/arduremoteid
cd arduremoteid/
git submodule init
git submodule update --recursive
./scripts/regen_headers.sh 
./add_libraries.sh

Open the 'arduino' software in your linux desktop:
arduino

http://arduino.esp8266.com/stable/package_esp8266com_index.json,https://dl.espressif.com/dl/package_esp32_index.json,https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json

Arduino IDE -> File Menu -> Preferences -> "Additional Board Manager URLs:" cut-n-paste: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
tip:[if you have url/s already isted, you can add it to the end of them with a comma, and then the url.]
Arduino IDE -> File Menu -> Preferences -> Ensure 'Sketchbook location:' is set to : /home/xxxx/Arduino for your current user, it defaults to this, but check it.
Arduino IDE -> Tools Menu -> Board -> Boards Manager -> [search for 'esp32'] ->Select Version [drop-down]-> 2.0.4 -> Install   [2.0.3 or newer should work]
Arduino IDE -> Tools Menu -> Board -> "ESP32 Arduino" ->"ESP32S3 Dev Module" [choose it]-   - MUST select the option with 'S3' in in here.

Open 'sketch - ie 'RemoteIDModule.ino 'from this repo:
Arduino IDE -> File Menu -> Open ... [navigate to ~/arduremoteid/RemoteIDModule/ folder and open it] ...

Plugin your ep32-s3 with usb cable using the port labeled "USB" on the pcb - this is for FLASHING it.

Arduino IDE -> Tools Menu -> Port:... -> /dev/ttyACM0
Press 'Upload' '"arrow" in IDE green bar.
If board does not flash, hold-down BOOT pushbutton on pcb while pressing RESET pushbutton briefly [to force it into bootloader mode] and retry.
done, ESP32-S3 is now running and emitting test/demo remote-id bluetooth

Optional:
Plugin your ep32-s3 with ANOTHER usb cable using the port labeled "UART" on the pcb - this is where mavlink and debug is coming/going, and you can connect to this with mavproxy, etc.
Optional:
Plugin your ep32-s3 into a flight-controller UART using pins RX(17)/TX(18)/GND on the pcb - this listens for mavlink from an autopilot, and expects to find REMOTE_ID* packets in the mavlink stream, and it broadcast/s this information from the drone as bluetooth/wifi on 2.4ghz in a manner that can be received by Android mobile phone App [https://play.google.com/store/apps/details?id=org.opendroneid.android_osm] and hopefully other open-drone-id compliant receivers.

Optional:
Plugin your ep32-s3 into a flight-controller CAN port by wiring a standard CAN Tranciever (such as VP231 or similar) to pins 47(tx),38(rx),GND on the pcb.

Setup/Configuration of ArduPilot/Mavlink/CAN to communicate together is not documented here, please go to ArduPilot wiki for more, eg: https://ardupilot.org/copter/docs/common-remoteid.html

## If youd just like to experiment with an esp32-s3 and don't have a drone to attach to it, you can flash an an alternative firmware here, which will give u a fake drone:

Open the test 'remote-id' example from id_open eg:
Arduino IDE -> File Menu -> Examples ->[scroll] Examples from Custom Libraries -> id_open -> random_flight
... and then flash it to your ESP32-S3 like the above instructions.  It does not support mavlink or CAN etc, but it will start emitting drone and location info immediately and simply.

## ArduPilot Support

Support for OpenDroneID is in ArduPilot master and is pending for
addition to the 4.2.x stable releases. You need to enable it on a
board by setting "define AP_OPENDRONEID_ENABLED 1" in the hwdef.dat
for your board.

## Credit

Many thanks to the great work by:

 - OpenDroneID: https://github.com/opendroneid/
 - Steve Jack: https://github.com/sxjack/uav_electronic_ids

This firmware builds on their work.