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AP_ADSB: added guided mode handling

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Tom Pittenger 2015-12-09 14:41:26 -08:00 committed by Andrew Tridgell
parent 0bfe235d6b
commit 4e4c1831f0
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_ADSB/AP_ADSB.h
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@ -27,7 +27,7 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#define VEHICLE_THREAT_RADIUS_M 200 #define VEHICLE_THREAT_RADIUS_M 1000
#define VEHICLE_LIST_LENGTH 25 // # of ADS-B vehicles to remember at any given time #define VEHICLE_LIST_LENGTH 25 // # of ADS-B vehicles to remember at any given time
#define VEHICLE_TIMEOUT_MS 10000 // if no updates in this time, drop it from the list #define VEHICLE_TIMEOUT_MS 10000 // if no updates in this time, drop it from the list
@ -37,7 +37,8 @@ public:
enum ADSB_BEHAVIOR { enum ADSB_BEHAVIOR {
ADSB_BEHAVIOR_NONE = 0, ADSB_BEHAVIOR_NONE = 0,
ADSB_BEHAVIOR_LOITER = 1, ADSB_BEHAVIOR_LOITER = 1,
ADSB_BEHAVIOR_LOITER_AND_DESCEND = 2 ADSB_BEHAVIOR_LOITER_AND_DESCEND = 2,
ADSB_BEHAVIOR_GUIDED = 3
}; };
enum ADSB_THREAT_LEVEL { enum ADSB_THREAT_LEVEL {
@ -68,11 +69,12 @@ public:
// add or update vehicle_list from inbound mavlink msg // add or update vehicle_list from inbound mavlink msg
void update_vehicle(const mavlink_message_t* msg); void update_vehicle(const mavlink_message_t* msg);
bool get_another_vehicle_within_radius() { return _enabled && _another_vehicle_within_radius; } bool get_possible_threat() { return _enabled && _another_vehicle_within_radius; }
ADSB_BEHAVIOR get_behavior() { return (ADSB_BEHAVIOR)(_behavior.get()); } ADSB_BEHAVIOR get_behavior() { return (ADSB_BEHAVIOR)(_behavior.get()); }
bool get_is_evading_threat() { return _enabled && _is_evading_threat; } bool get_is_evading_threat() { return _enabled && _is_evading_threat; }
void set_is_evading_threat(bool is_evading) { if (_enabled) { _is_evading_threat = is_evading; } } void set_is_evading_threat(bool is_evading) { if (_enabled) { _is_evading_threat = is_evading; } }
uint16_t get_vehicle_count() { return _vehicle_count; }
private: private: