Copter: Add support for ADS-B

ArduCopter/ArduCopter.cpp

@@ -140,6 +140,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(read_receiver_rssi,    40,     75),
     SCHED_TASK(rpm_update,            40,    200),
     SCHED_TASK(compass_cal_update,    4,    100),
+    SCHED_TASK(adsb_update,          400,    100),
 #if FRSKY_TELEM_ENABLED == ENABLED
     SCHED_TASK(frsky_telemetry_send,  80,     75),
 #endif

ArduCopter/Copter.h

@@ -100,6 +100,7 @@
 #endif
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
 #include <AP_Terrain/AP_Terrain.h>
+#include <AP_ADSB/AP_ADSB.h>
 #include <AP_RPM/AP_RPM.h>
 #if PRECISION_LANDING == ENABLED
 #include <AC_PrecLand/AC_PrecLand.h>
@@ -516,6 +517,8 @@ private:
     AC_InputManager_Heli input_manager;
 #endif
 
+    AP_ADSB adsb {ahrs};
+
     // use this to prevent recursion during sensor init
     bool in_mavlink_delay;
 
@@ -731,6 +734,8 @@ private:
     void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
     void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
     void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
+    void adsb_update(void);
+    void adsb_handle_vehicle_threats(void);
     bool brake_init(bool ignore_checks);
     void brake_run();
     bool circle_init(bool ignore_checks);

ArduCopter/GCS_Mavlink.cpp

@@ -1933,6 +1933,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         break;
     }
 
+    case MAVLINK_MSG_ID_ADSB_VEHICLE:
+        copter.adsb.update_vehicle(msg);
+        break;
+
     }     // end switch
 } // end handle mavlink
 

ArduCopter/Parameters.cpp

@@ -1087,6 +1087,10 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_RPM/AP_RPM.cpp
     GOBJECT(rpm_sensor, "RPM", AP_RPM),
 
+    // @Group: ADSB_
+    // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
+    GOBJECT(adsb,                "ADSB_", AP_ADSB),
+
     // @Param: AUTOTUNE_AXES
     // @DisplayName: Autotune axis bitmask
     // @Description: 1-byte bitmap of axes to autotune

ArduCopter/Parameters.h

@@ -145,6 +145,9 @@ public:
         k_param_gps_glitch,             // deprecated
         k_param_baro_glitch,            // 71 - deprecated
 
+        // AP_ADSB Library
+        k_param_adsb,                   // 72
+
         // 74: precision landing object
         k_param_precland = 74,
 

ArduCopter/adsb.cpp

@@ -0,0 +1,44 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+ * adsb.cpp
+ * Copyright (C) Tom Pittenger 2015
+ *
+ * This file 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 file 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/>.
+ */
+
+#include "Copter.h"
+
+/*
+ *  this module deals with ADS-B handling for ArduPilot
+ *  ADS-B is an RF based collision avoidance protocol to tell nearby aircraft your location
+ *  https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast
+ *
+ */
+
+/*
+  handle periodic adsb database maintenance and handle threats
+ */
+void Copter::adsb_update(void)
+{
+    adsb.update();
+    adsb_handle_vehicle_threats();
+}
+
+/*
+ * Handle ADS-B based threats which are platform dependent
+ */
+void Copter::adsb_handle_vehicle_threats(void)
+{
+}
+

ArduCopter/make.inc

@@ -60,3 +60,4 @@ LIBRARIES += AP_RPM
 LIBRARIES += AC_PrecLand
 LIBRARIES += AP_IRLock
 LIBRARIES += AC_InputManager
+LIBRARIES += AP_ADSB