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ADSB: add param ADSB_LIST_ALT to filter aircraft by altitude. default is disabled

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This commit is contained in:
Tom Pittenger 2018-07-10 07:21:16 -07:00 committed by Tom Pittenger
parent 587e02e92e
commit 6145711931
2 changed files with 14 additions and 2 deletions
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15
libraries/AP_ADSB/AP_ADSB.cpp
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@ -66,9 +66,10 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
// @Param: LIST_RADIUS // @Param: LIST_RADIUS
// @DisplayName: ADSB vehicle list radius filter // @DisplayName: ADSB vehicle list radius filter
// @Description: ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. // @Description: ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
// @Range: 1 100000 // @Range: 0 100000
// @User: Advanced // @User: Advanced
// @Units: m
AP_GROUPINFO("LIST_RADIUS", 3, AP_ADSB, in_state.list_radius, ADSB_LIST_RADIUS_DEFAULT), AP_GROUPINFO("LIST_RADIUS", 3, AP_ADSB, in_state.list_radius, ADSB_LIST_RADIUS_DEFAULT),
// @Param: ICAO_ID // @Param: ICAO_ID
@ -129,6 +130,14 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("RF_CAPABLE", 11, AP_ADSB, out_state.cfg.rf_capable, 0), AP_GROUPINFO("RF_CAPABLE", 11, AP_ADSB, out_state.cfg.rf_capable, 0),
// @Param: LIST_ALT
// @DisplayName: ADSB vehicle list altitude filter
// @Description: ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
// @Range: 0 32767
// @User: Advanced
// @Units: m
AP_GROUPINFO("LIST_ALT", 12, AP_ADSB, in_state.list_altitude, 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -366,6 +375,7 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
bool my_loc_is_zero = _my_loc.is_zero(); bool my_loc_is_zero = _my_loc.is_zero();
float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc); float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius; bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius;
bool out_of_range_alt = in_state.list_altitude > 0 && !my_loc_is_zero && abs(vehicle_loc.alt - _my_loc.alt) > in_state.list_altitude*100;
bool is_tracked_in_list = find_index(vehicle, &index); bool is_tracked_in_list = find_index(vehicle, &index);
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
@ -377,6 +387,7 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
if (vehicle_loc.is_zero() || if (vehicle_loc.is_zero() ||
out_of_range || out_of_range ||
out_of_range_alt ||
detected_ourself || detected_ourself ||
(vehicle.info.ICAO_address > 0x00FFFFFF) || // ICAO address is 24bits, so ignore higher values. (vehicle.info.ICAO_address > 0x00FFFFFF) || // ICAO address is 24bits, so ignore higher values.
!(vehicle.info.flags & required_flags_position) || !(vehicle.info.flags & required_flags_position) ||

1
libraries/AP_ADSB/AP_ADSB.h
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@ -133,6 +133,7 @@ private:
adsb_vehicle_t *vehicle_list = nullptr; adsb_vehicle_t *vehicle_list = nullptr;
uint16_t vehicle_count; uint16_t vehicle_count;
AP_Int32 list_radius; AP_Int32 list_radius;
AP_Int16 list_altitude;
// streamrate stuff // streamrate stuff
uint32_t send_start_ms[MAVLINK_COMM_NUM_BUFFERS]; uint32_t send_start_ms[MAVLINK_COMM_NUM_BUFFERS];