ardupilot/libraries/AP_ADSB/AP_ADSB.h

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#pragma once
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
ADS-B RF based collision avoidance module
https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast
Tom Pittenger, November 2015
*/
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Common/Location.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Buffer/AP_Buffer.h>
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class AP_ADSB {
public:
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AP_ADSB()
{
AP_Param::setup_object_defaults(this, var_info);
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}
/* Do not allow copies */
AP_ADSB(const AP_ADSB &other) = delete;
AP_ADSB &operator=(const AP_ADSB&) = delete;
struct adsb_vehicle_t {
mavlink_adsb_vehicle_t info; // the whole mavlink struct with all the juicy details. sizeof() == 38
uint32_t last_update_ms; // last time this was refreshed, allows timeouts
};
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];
// periodic task that maintains vehicle_list
void update(void);
uint16_t get_vehicle_count() { return in_state.vehicle_count; }
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// send ADSB_VEHICLE mavlink message, usually as a StreamRate
void send_adsb_vehicle(mavlink_channel_t chan);
void set_stall_speed_cm(const uint16_t stall_speed_cm) { out_state.cfg.stall_speed_cm = stall_speed_cm; }
void set_max_speed(int16_t max_speed) {
if (!out_state.cfg.was_set_externally) {
// convert m/s to knots
out_state.cfg.maxAircraftSpeed_knots = (float)max_speed * 1.94384f;
}
}
void set_is_auto_mode(const bool is_in_auto_mode) { out_state._is_in_auto_mode = is_in_auto_mode; }
void set_is_flying(const bool is_flying) { out_state.is_flying = is_flying; }
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UAVIONIX_ADSB_RF_HEALTH get_transceiver_status(void) { return out_state.status; }
// extract a location out of a vehicle item
Location get_location(const adsb_vehicle_t &vehicle) const;
bool enabled() const {
return _enabled;
}
bool next_sample(adsb_vehicle_t &obstacle);
// mavlink message handler
void handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg);
// when true, a vehicle with that ICAO was found in database and the vehicle is populated.
bool get_vehicle_by_ICAO(const uint32_t icao, adsb_vehicle_t &vehicle) const;
uint32_t get_special_ICAO_target() const { return (uint32_t)_special_ICAO_target; };
void set_special_ICAO_target(const uint32_t new_icao_target) { _special_ICAO_target = (int32_t)new_icao_target; };
bool is_special_vehicle(uint32_t icao) const { return _special_ICAO_target != 0 && (_special_ICAO_target == (int32_t)icao); }
private:
// initialize _vehicle_list
void init();
// free _vehicle_list
void deinit();
// compares current vector against vehicle_list to detect threats
void determine_furthest_aircraft(void);
// return index of given vehicle if ICAO_ADDRESS matches. return -1 if no match
bool find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const;
// remove a vehicle from the list
void delete_vehicle(const uint16_t index);
void set_vehicle(const uint16_t index, const adsb_vehicle_t &vehicle);
// Generates pseudorandom ICAO from gps time, lat, and lon
uint32_t genICAO(const Location &loc);
// set callsign: 8char string (plus null termination) then optionally append last 4 digits of icao
void set_callsign(const char* str, const bool append_icao);
// send static and dynamic data to ADSB transceiver
void send_configure(const mavlink_channel_t chan);
void send_dynamic_out(const mavlink_channel_t chan);
// special helpers for uAvionix workarounds
uint32_t get_encoded_icao(void);
uint8_t get_encoded_callsign_null_char(void);
// add or update vehicle_list from inbound mavlink msg
void handle_vehicle(const mavlink_message_t &msg);
// handle ADS-B transceiver report for ping2020
void handle_transceiver_report(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_out_cfg(const mavlink_message_t &msg);
AP_Int8 _enabled;
Location _my_loc;
// ADSB-IN state. Maintains list of external vehicles
struct {
// list management
AP_Int16 list_size_param;
uint16_t list_size = 1; // start with tiny list, then change to param-defined size. This ensures it doesn't fail on start
adsb_vehicle_t *vehicle_list = nullptr;
uint16_t vehicle_count;
AP_Int32 list_radius;
AP_Int16 list_altitude;
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// streamrate stuff
uint32_t send_start_ms[MAVLINK_COMM_NUM_BUFFERS];
uint16_t send_index[MAVLINK_COMM_NUM_BUFFERS];
} in_state;
// ADSB-OUT state. Maintains export data
struct {
uint32_t last_config_ms; // send once every 10s
uint32_t last_report_ms; // send at 5Hz
int8_t chan = -1; // channel that contains an ADS-b Transceiver. -1 means transceiver is not detected
uint32_t chan_last_ms;
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UAVIONIX_ADSB_RF_HEALTH status; // transceiver status
bool is_flying;
bool _is_in_auto_mode;
// ADSB-OUT configuration
struct {
int32_t ICAO_id;
AP_Int32 ICAO_id_param;
int32_t ICAO_id_param_prev = -1; // assume we never send
char callsign[MAVLINK_MSG_UAVIONIX_ADSB_OUT_CFG_FIELD_CALLSIGN_LEN]; //Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only).
AP_Int8 emitterType;
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AP_Int8 lengthWidth; // Aircraft length and width encoding (table 2-35 of DO-282B)
AP_Int8 gpsLatOffset;
AP_Int8 gpsLonOffset;
uint16_t stall_speed_cm;
AP_Int8 rfSelect;
AP_Int16 squawk_octal_param;
uint16_t squawk_octal;
float maxAircraftSpeed_knots;
AP_Int8 rf_capable;
bool was_set_externally;
} cfg;
} out_state;
// index of and distance to furthest vehicle in list
uint16_t furthest_vehicle_index;
float furthest_vehicle_distance;
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// special ICAO of interest that ignored filters when != 0
AP_Int32 _special_ICAO_target;
static const uint8_t max_samples = 30;
AP_Buffer<adsb_vehicle_t, max_samples> samples;
void push_sample(adsb_vehicle_t &vehicle);
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// logging
AP_Int8 _log;
void write_log(const adsb_vehicle_t &vehicle);
enum logging {
NONE = 0,
SPECIAL_ONLY = 1,
ALL = 2
};
};