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AP_ADSB: add logging

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IamPete1 2019-02-23 19:30:49 +00:00 committed by Tom Pittenger
parent ffccd6f263
commit 20e6f6045d
2 changed files with 51 additions and 0 deletions
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43
libraries/AP_ADSB/AP_ADSB.cpp
View File

@ -27,6 +27,8 @@
#include <limits.h> #include <limits.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>
#define VEHICLE_TIMEOUT_MS 5000 // if no updates in this time, drop it from the list #define VEHICLE_TIMEOUT_MS 5000 // if no updates in this time, drop it from the list
#define ADSB_VEHICLE_LIST_SIZE_DEFAULT 25 #define ADSB_VEHICLE_LIST_SIZE_DEFAULT 25
@ -144,6 +146,13 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("ICAO_SPECL", 13, AP_ADSB, _special_ICAO_target, 0), AP_GROUPINFO("ICAO_SPECL", 13, AP_ADSB, _special_ICAO_target, 0),
// @Param: LOG
// @DisplayName: ADS-B logging
// @Description: 0: no logging, 1: log only special ID, 2:log all
// @Values: 0: no logging, 1: log only special ID, 2:log all
// @User: Advanced
AP_GROUPINFO("LOG", 14, AP_ADSB, _log, 1),
AP_GROUPEND AP_GROUPEND
}; };
@ -469,6 +478,8 @@ void AP_ADSB::set_vehicle(const uint16_t index, const adsb_vehicle_t &vehicle)
return; return;
} }
in_state.vehicle_list[index] = vehicle; in_state.vehicle_list[index] = vehicle;
write_log(vehicle);
} }
void AP_ADSB::send_adsb_vehicle(const mavlink_channel_t chan) void AP_ADSB::send_adsb_vehicle(const mavlink_channel_t chan)
@ -877,3 +888,35 @@ bool AP_ADSB::get_vehicle_by_ICAO(const uint32_t icao, adsb_vehicle_t &vehicle)
return false; return false;
} }
/*
* Write dataflash log of a vehicle
*/
void AP_ADSB::write_log(const adsb_vehicle_t &vehicle)
{
switch (_log) {
case logging::SPECIAL_ONLY:
if (!is_special_vehicle(vehicle.info.ICAO_address)) {
return;
}
case logging::ALL:
break;
case logging::NONE:
default:
return;
}
struct log_ADSB pkt = {
LOG_PACKET_HEADER_INIT(LOG_ADSB_MSG),
time_us : AP_HAL::micros64(),
ICAO_address : vehicle.info.ICAO_address,
lat : vehicle.info.lat,
lng : vehicle.info.lon,
alt : vehicle.info.altitude,
heading : vehicle.info.heading,
hor_velocity : vehicle.info.hor_velocity,
ver_velocity : vehicle.info.ver_velocity,
squawk : vehicle.info.squawk,
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}

8
libraries/AP_ADSB/AP_ADSB.h
View File

@ -194,4 +194,12 @@ private:
void push_sample(adsb_vehicle_t &vehicle); void push_sample(adsb_vehicle_t &vehicle);
// logging
AP_Int8 _log;
void write_log(const adsb_vehicle_t &vehicle);
enum logging {
NONE = 0,
SPECIAL_ONLY = 1,
ALL = 2
};
}; };