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AP_ADSB: add special vehicle that ignores range filters

This commit is contained in:
Tom Pittenger 2019-02-17 07:44:28 -08:00 committed by Tom Pittenger
parent ec59fe9398
commit 8d6748dc4f
2 changed files with 20 additions and 2 deletions
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13
libraries/AP_ADSB/AP_ADSB.cpp
View File

@ -138,6 +138,11 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
// @Units: m
AP_GROUPINFO("LIST_ALT", 12, AP_ADSB, in_state.list_altitude, 0),
// @Param: ICAO_SPECL
// @DisplayName: ICAO_ID of special vehicle
// @Description: ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.
// @User: Advanced
AP_GROUPINFO("ICAO_SPECL", 13, AP_ADSB, _special_ICAO_target, 0),
AP_GROUPEND
};
@ -295,6 +300,9 @@ void AP_ADSB::determine_furthest_aircraft(void)
uint16_t max_distance_index = 0;
for (uint16_t index = 0; index < in_state.vehicle_count; index++) {
if (is_special_vehicle(in_state.vehicle_list[index].info.ICAO_address)) {
continue;
}
const float distance = _my_loc.get_distance(get_location(in_state.vehicle_list[index]));
if (max_distance < distance || index == 0) {
max_distance = distance;
@ -377,8 +385,9 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
const Location vehicle_loc = AP_ADSB::get_location(vehicle);
const bool my_loc_is_zero = _my_loc.is_zero();
const float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
const bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius;
const 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;
const bool is_special = is_special_vehicle(vehicle.info.ICAO_address);
const bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius && !is_special;
const 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 && !is_special;
const bool is_tracked_in_list = find_index(vehicle, &index);
const uint32_t now = AP_HAL::millis();

9
libraries/AP_ADSB/AP_ADSB.h
View File

@ -83,6 +83,11 @@ public:
// when true, a vehicle with that ICAO was found in database and the vehicle is populated.
bool get_vehicle_by_ICAO(const uint32_t icao, adsb_vehicle_t &vehicle) const;
uint32_t get_special_ICAO_target() const { return (uint32_t)_special_ICAO_target; };
void set_special_ICAO_target(const uint32_t new_icao_target) { _special_ICAO_target = (int32_t)new_icao_target; };
bool is_special_vehicle(uint32_t icao) const { return _special_ICAO_target != 0 && (_special_ICAO_target == (int32_t)icao); }
private:
// initialize _vehicle_list
void init();
@ -180,6 +185,10 @@ private:
uint16_t furthest_vehicle_index;
float furthest_vehicle_distance;
// special ICAO of interest that ignored filters when != 0
AP_Int32 _special_ICAO_target;
static const uint8_t max_samples = 30;
AP_Buffer<adsb_vehicle_t, max_samples> samples;