AP_ADSB: Driver cleanup and refactor

libraries/AP_ADSB/AP_ADSB.cpp

@@ -260,7 +260,6 @@ void AP_ADSB::detect_instance(uint8_t instance)
 #if HAL_ADSB_UAVIONIX_MAVLINK_ENABLED
         if (AP_ADSB_uAvionix_MAVLink::detect()) {
             _backend[instance] = new AP_ADSB_uAvionix_MAVLink(*this, instance);
-            return;
         }
 #endif
         break;
@@ -269,7 +268,6 @@ void AP_ADSB::detect_instance(uint8_t instance)
 #if HAL_ADSB_UCP_ENABLED
         if (AP_ADSB_uAvionix_UCP::detect()) {
             _backend[instance] = new AP_ADSB_uAvionix_UCP(*this, instance);
-            return;
         }
 #endif
         break;
@@ -283,6 +281,7 @@ void AP_ADSB::detect_instance(uint8_t instance)
 #endif
         break;
     }
+
 }
 
 // get instance type from instance
@@ -367,10 +366,9 @@ void AP_ADSB::update(void)
 
 #ifndef ADSB_STATIC_CALLSIGN
         if (!out_state.cfg.was_set_externally) {
-            set_callsign("PING", true);
+            set_callsign("ARDU", true);
         }
 #endif
-        gcs().send_text(MAV_SEVERITY_INFO, "ADSB: Using ICAO_id %d and Callsign %s", (int)out_state.cfg.ICAO_id, out_state.cfg.callsign);
         out_state.last_config_ms = 0; // send now
     }
 
@@ -848,6 +846,29 @@ void AP_ADSB::write_log(const adsb_vehicle_t &vehicle) const
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
 
+/**
+* @brief 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.
+* baseIn: base of input number
+* inputNumber: value currently in base "baseIn" to be converted to base "baseOut"
+*
+* Example: convert ADSB squawk octal "1200" stored in memory as 0x0280 to 0x04B0
+*          uint16_t squawk_decimal = convertMathBase(8, squawk_octal);
+*/
+uint32_t AP_ADSB::convert_base_to_decimal(const uint8_t baseIn, uint32_t inputNumber)
+{
+    // Our only sensible input bases are 16 and 8
+    if (baseIn != 8 && baseIn != 16) {
+        return inputNumber;
+    }
+    uint32_t outputNumber = 0;
+    for (uint8_t i=0; i < 10; i++) {
+        outputNumber += (inputNumber % 10) * powf(baseIn, i);
+        inputNumber /= 10;
+        if (inputNumber == 0) break;
+    }
+    return outputNumber;
+}
+
 AP_ADSB *AP::ADSB()
 {
     return AP_ADSB::get_singleton();

libraries/AP_ADSB/AP_ADSB.h

@@ -151,6 +151,11 @@ public:
     // confirm a value is a valid callsign
     static bool is_valid_callsign(uint16_t octal) WARN_IF_UNUSED;
 
+    // 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() {

libraries/AP_ADSB/AP_ADSB_Sagetech.cpp

@@ -397,7 +397,7 @@ void AP_ADSB_Sagetech::send_msg_Installation()
 
 //    // convert a decimal 123456 to 0x123456
     // TODO: do a proper conversion. The param contains "131313" but what gets transmitted over the air is 0x200F1.
-    const uint32_t icao_hex = convert_base_to_decimal(16, _frontend.out_state.cfg.ICAO_id_param);
+    const uint32_t icao_hex = AP_ADSB::convert_base_to_decimal(16, _frontend.out_state.cfg.ICAO_id_param);
     put_le24_ptr(&pkt.payload[0], icao_hex);
 
     memcpy(&pkt.payload[3], &_frontend.out_state.cfg.callsign, 8);
@@ -452,7 +452,7 @@ void AP_ADSB_Sagetech::send_msg_Operating()
     // squawk
     // param is saved as native octal so we need convert back to
     // decimal because Sagetech will convert it back to octal
-    uint16_t squawk = convert_base_to_decimal(8, last_operating_squawk);
+    const uint16_t squawk = AP_ADSB::convert_base_to_decimal(8, last_operating_squawk);
     put_le16_ptr(&pkt.payload[0], squawk);
 
     // altitude
@@ -526,28 +526,5 @@ void AP_ADSB_Sagetech::send_msg_GPS()
     send_msg(pkt);
 }
 
-/*
- * 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.
- * baseIn: base of input number
- * inputNumber: value currently in base "baseIn" to be converted to base "baseOut"
- *
- * Example: convert ADSB squawk octal "1200" stored in memory as 0x0280 to 0x04B0
- *          uint16_t squawk_decimal = convertMathBase(8, squawk_octal);
- */
-uint32_t AP_ADSB_Sagetech::convert_base_to_decimal(const uint8_t baseIn, uint32_t inputNumber)
-{
-    // Our only sensible input bases are 16 and 8
-    if (baseIn != 8 && baseIn != 16) {
-        return inputNumber;
-    }
-
-    uint32_t outputNumber = 0;
-    for (uint8_t i=0; inputNumber != 0; i++) {
-        outputNumber += (inputNumber % 10) * powf(10, i);
-        inputNumber /= 10;
-    }
-    return outputNumber;
-}
-
 #endif // HAL_ADSB_SAGETECH_ENABLED
 

libraries/AP_ADSB/AP_ADSB_Sagetech.h

@@ -137,11 +137,6 @@ private:
     // send msg to request a packet by type
     void request_packet(const MsgType_XP type);
 
-    // 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.
-    uint32_t convert_base_to_decimal(const uint8_t baseIn, uint32_t inputNumber);
-
     // timers for each out-bound packet
     uint32_t        last_packet_initialize_ms;
     uint32_t        last_packet_PreFlight_ms;