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AP_ADSB: Ping200X update health, remove option for external baro, and gnss altitude units bugfix

This commit is contained in:
Tom Pittenger 2021-09-21 12:12:43 -07:00 committed by Tom Pittenger
parent 9729377bb3
commit 9578b9bcd4
2 changed files with 18 additions and 13 deletions
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28
libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
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@ -31,11 +31,12 @@
extern const AP_HAL::HAL &hal;
#define AP_ADSB_UAVIONIX_HEALTH_TIMEOUT_MS (5000UL)
#define AP_ADSB_UAVIONIX_GCS_LOST_COMMS_LONG_TIMEOUT_MINUTES (15UL)
#define AP_ADSB_UAVIONIX_GCS_LOST_COMMS_LONG_TIMEOUT_MS (1000UL * 60UL * AP_ADSB_UAVIONIX_GCS_LOST_COMMS_LONG_TIMEOUT_MINUTES)
#define AP_ADSB_UAVIONIX_DETECT_GROUNDSTATE 0
#define AP_ADSB_UAVIONIX_ALLOW_USING_AUTOPILOT_BARO 0
#define AP_ADSB_UAVIONIX_EMERGENCY_STATUS_ON_LOST_LINK 0
// detect if any port is configured as uAvionix_UCP
@ -54,6 +55,7 @@ bool AP_ADSB_uAvionix_UCP::init()
}
request_msg(GDL90_ID_IDENTIFICATION);
request_msg(GDL90_ID_TRANSPONDER_CONFIG);
return true;
}
@ -91,6 +93,15 @@ void AP_ADSB_uAvionix_UCP::update()
run_state.last_packet_GPS_ms = now_ms;
send_GPS_Data();
}
if (run_state.last_packet_Transponder_Status_ms == 0) {
// never seen a status packet. Let us linger in initializing for up to 10s before we declare it failed
_frontend.out_state.status = (now_ms < 10000) ? UAVIONIX_ADSB_RF_HEALTH_INITIALIZING : UAVIONIX_ADSB_RF_HEALTH_FAIL_TX;
} else if (now_ms - run_state.last_packet_Transponder_Status_ms < AP_ADSB_UAVIONIX_HEALTH_TIMEOUT_MS) {
_frontend.out_state.status = rx.decoded.transponder_status.fault ? UAVIONIX_ADSB_RF_HEALTH_FAIL_TX : UAVIONIX_ADSB_RF_HEALTH_OK;
} else {
_frontend.out_state.status = UAVIONIX_ADSB_RF_HEALTH_FAIL_TX;
}
}
@ -156,11 +167,12 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
case GDL90_ID_SENSOR_MESSAGE:
memcpy(&rx.decoded.sensor_message, msg.raw, sizeof(rx.decoded.sensor_message));
break;
#endif // AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS
case GDL90_ID_TRANSPONDER_STATUS:
memcpy(&rx.decoded.transponder_status, msg.raw, sizeof(rx.decoded.transponder_status));
run_state.last_packet_Transponder_Status_ms = AP_HAL::millis();
break;
#endif // AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS
case GDL90_ID_TRANSPONDER_CONTROL:
case GDL90_ID_GPS_DATA:
@ -211,15 +223,7 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control()
msg.modeCEnabled = true;
msg.modeSEnabled = true;
msg.es1090TxEnabled = (_frontend.out_state.cfg.rfSelect & UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED) != 0;
#if AP_ADSB_UAVIONIX_ALLOW_USING_AUTOPILOT_BARO
if ((rx.decoded.transponder_config.baroAltSource == GDL90_BARO_DATA_SOURCE_EXTERNAL) && AP::baro().healthy()) {
msg.externalBaroAltitude_mm = AP::baro().get_altitude() * 1000; // convert m to mm
} else
#endif
{
msg.externalBaroAltitude_mm = INT32_MAX;
}
msg.externalBaroAltitude_mm = INT32_MAX;
// if enabled via param ADSB_OPTIONS, use squawk 7400 while in any Loss-Comms related failsafe
// https://www.faa.gov/documentLibrary/media/Notice/N_JO_7110.724_5-2-9_UAS_Lost_Link_2.pdf
@ -259,7 +263,7 @@ void AP_ADSB_uAvionix_UCP::send_GPS_Data()
msg.utcTime_s = gps.time_epoch_usec() * 1E-6;
msg.latitude_ddE7 = fix_is_good ? _frontend._my_loc.lat : INT32_MAX;
msg.longitude_ddE7 = fix_is_good ? _frontend._my_loc.lng : INT32_MAX;
msg.altitudeGnss_mm = fix_is_good ? _frontend._my_loc.alt : INT32_MAX;
msg.altitudeGnss_mm = fix_is_good ? (_frontend._my_loc.alt * 10): INT32_MAX;
// Protection Limits. FD or SBAS-based depending on state bits
msg.HPL_mm = UINT32_MAX;

3
libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h
View File

@ -72,11 +72,11 @@ private:
GDL90_IDENTIFICATION_V3 identification;
GDL90_TRANSPONDER_CONFIG_MSG_V4_V5 transponder_config;
GDL90_HEARTBEAT heartbeat;
GDL90_TRANSPONDER_STATUS_MSG transponder_status;
#if AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS
GDL90_OWNSHIP_REPORT ownship_report;
GDL90_OWNSHIP_GEO_ALTITUDE ownship_geometric_altitude;
GDL90_SENSOR_BARO_MESSAGE sensor_message;
GDL90_TRANSPONDER_STATUS_MSG transponder_status;
#endif
} decoded;
} rx;
@ -84,6 +84,7 @@ private:
struct {
uint32_t last_packet_GPS_ms;
uint32_t last_packet_Transponder_Control_ms;
uint32_t last_packet_Transponder_Status_ms;
} run_state;
};