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
*/
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#include "AP_ADSB_config.h"
#if HAL_ADSB_ENABLED
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Common/Location.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#define ADSB_MAX_INSTANCES 1 // Maximum number of ADSB sensor instances available on this platform
#define ADSB_BITBASK_RF_CAPABILITIES_UAT_IN (1 << 0)
#define ADSB_BITBASK_RF_CAPABILITIES_1090ES_IN (1 << 1)
#define ADSB_BITBASK_RF_CAPABILITIES_UAT_OUT (1 << 2)
#define ADSB_BITBASK_RF_CAPABILITIES_1090ES_OUT (1 << 3)
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class AP_ADSB_Backend;
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class AP_ADSB {
public:
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friend class AP_ADSB_Backend;
friend class AP_ADSB_uAvionix_MAVLink;
friend class AP_ADSB_uAvionix_UCP;
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friend class AP_ADSB_Sagetech;
friend class AP_ADSB_Sagetech_MXS;
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// constructor
AP_ADSB();
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/* Do not allow copies */
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CLASS_NO_COPY(AP_ADSB);
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// get singleton instance
static AP_ADSB *get_singleton(void) {
return _singleton;
}
// ADSB driver types
enum class Type {
None = 0,
uAvionix_MAVLink = 1,
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Sagetech = 2,
uAvionix_UCP = 3,
Sagetech_MXS = 4,
};
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
};
// enum for adsb optional features
enum class AdsbOption {
Ping200X_Send_GPS = (1<<0),
Squawk_7400_FS_RC = (1<<1),
Squawk_7400_FS_GCS = (1<<2),
SagteTech_MXS_External_Config = (1<<3),
};
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];
// periodic task that maintains vehicle_list
void update(void);
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// send ADSB_VEHICLE mavlink message, usually as a StreamRate
void send_adsb_vehicle(mavlink_channel_t chan);
bool set_stall_speed_cm(const uint16_t stall_speed_cm) {
if (out_state.cfg.was_set_externally) {
return false;
}
out_state.cfg.stall_speed_cm = stall_speed_cm;
return true;
}
bool set_max_speed(int16_t max_speed) {
if (out_state.cfg.was_set_externally) {
return false;
}
// convert m/s to knots
out_state.cfg.maxAircraftSpeed_knots = (float)max_speed * M_PER_SEC_TO_KNOTS;
return true;
}
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; }
UAVIONIX_ADSB_RF_HEALTH get_transceiver_status(void) const { return out_state.status; }
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// extract a location out of a vehicle item
Location get_location(const adsb_vehicle_t &vehicle) const;
// ADSB is considered enabled if there are any configured backends
bool enabled() const {
for (uint8_t instance=0; instance<detected_num_instances; instance++) {
if (_type[instance] > 0) {
return true;
}
}
return false;
}
bool init_failed() const {
return _init_failed;
}
bool healthy() {
return check_startup();
}
bool next_sample(adsb_vehicle_t &obstacle);
// handle a adsb_vehicle_t from an external source
void handle_adsb_vehicle(const adsb_vehicle_t &vehicle);
// mavlink message handler
void handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg);
void send_adsb_out_status(const mavlink_channel_t chan) const;
// 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; };
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void set_special_ICAO_target(const uint32_t new_icao_target) { _special_ICAO_target.set((int32_t)new_icao_target); };
bool is_special_vehicle(uint32_t icao) const { return _special_ICAO_target != 0 && (_special_ICAO_target == (int32_t)icao); }
// confirm a value is a valid callsign
static bool is_valid_callsign(uint16_t octal) WARN_IF_UNUSED;
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// Convert base 8 or 16 to decimal. Used to convert an octal/hexadecimal value
// stored on a GCS as a string field in different format, but then transmitted
// over mavlink as a float which is always a decimal.
static uint32_t convert_base_to_decimal(const uint8_t baseIn, uint32_t inputNumber);
// Trigger a Mode 3/A transponder IDENT. This should only be done when requested to do so by an Air Traffic Controller.
// See wikipedia for IDENT explaination https://en.wikipedia.org/wiki/Transponder_(aeronautics)
bool ident_start() {
if (!healthy() || ((out_state.cfg.rfSelect & UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED) == 0)) {
return false;
}
out_state.ctrl.identActive = true;
return true;
}
AP_ADSB::Type get_type(uint8_t instance) const;
private:
static AP_ADSB *_singleton;
// initialize vehicle_list
void init();
// check to see if we are initialized (and possibly do initialization)
bool check_startup();
// 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) const;
// 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);
// configure ADSB-out transceivers
void handle_out_cfg(const mavlink_uavionix_adsb_out_cfg_t &packet);
// control ADSB-out transcievers
void handle_out_control(const mavlink_uavionix_adsb_out_control_t &packet);
// mavlink handler
void handle_transceiver_report(const mavlink_channel_t chan, const mavlink_uavionix_adsb_transceiver_health_report_t &packet);
void detect_instance(uint8_t instance);
AP_Int8 _type[ADSB_MAX_INSTANCES];
Location _my_loc;
bool _init_failed;
// ADSB-IN state. Maintains list of external vehicles
struct {
// list management
AP_Int16 list_size_param;
uint16_t list_size_allocated;
adsb_vehicle_t *vehicle_list;
uint16_t vehicle_count;
AP_Int32 list_radius;
AP_Int16 list_altitude;
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// index of and distance to furthest vehicle in list
uint16_t furthest_vehicle_index;
float furthest_vehicle_distance;
// 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 gpsOffsetLat;
AP_Int8 gpsOffsetLon;
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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;
struct {
bool baroCrossChecked;
uint8_t airGroundState;
bool identActive;
bool modeAEnabled;
bool modeCEnabled;
bool modeSEnabled;
bool es1090TxEnabled;
int32_t externalBaroAltitude_mm;
uint16_t squawkCode;
uint8_t emergencyState;
uint8_t callsign[8];
bool x_bit;
} ctrl;
mavlink_uavionix_adsb_out_status_t tx_status;
} out_state;
uint8_t detected_num_instances;
// special ICAO of interest that ignored filters when != 0
AP_Int32 _special_ICAO_target;
AP_Int32 _options;
static const uint8_t _max_samples = 30;
ObjectBuffer<adsb_vehicle_t> _samples{_max_samples};
void push_sample(const adsb_vehicle_t &vehicle);
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// logging
AP_Int8 _log;
void write_log(const adsb_vehicle_t &vehicle) const;
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enum logging {
NONE = 0,
SPECIAL_ONLY = 1,
ALL = 2
};
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// reference to backend
AP_ADSB_Backend *_backend[ADSB_MAX_INSTANCES];
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};
namespace AP {
AP_ADSB *ADSB();
};
#endif // HAL_ADSB_ENABLED