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AP_ADSB: added handle_adsb_vehicle() API

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this allows for UAVCAN ADSB adapters
This commit is contained in:
Andrew Tridgell 2019-10-02 20:54:35 +10:00
parent 8650229ad4
commit df90cee8a0
2 changed files with 19 additions and 8 deletions
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22
libraries/AP_ADSB/AP_ADSB.cpp
View File

@ -413,7 +413,7 @@ bool AP_ADSB::find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const
* Update the vehicle list. If the vehicle is already in the * Update the vehicle list. If the vehicle is already in the
* list then it will update it, otherwise it will be added. * list then it will update it, otherwise it will be added.
*/ */
void AP_ADSB::handle_vehicle(const mavlink_message_t &packet) void AP_ADSB::handle_adsb_vehicle(const adsb_vehicle_t &vehicle)
{ {
if (in_state.vehicle_list == nullptr) { if (in_state.vehicle_list == nullptr) {
// We are only null when disabled. Updating is inhibited. // We are only null when disabled. Updating is inhibited.
@ -421,8 +421,6 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
} }
uint16_t index = in_state.list_size + 1; // initialize with invalid index uint16_t index = in_state.list_size + 1; // initialize with invalid index
adsb_vehicle_t vehicle {};
mavlink_msg_adsb_vehicle_decode(&packet, &vehicle.info);
const Location vehicle_loc = AP_ADSB::get_location(vehicle); const Location vehicle_loc = AP_ADSB::get_location(vehicle);
const bool my_loc_is_zero = _my_loc.is_zero(); const bool my_loc_is_zero = _my_loc.is_zero();
const float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc); const float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
@ -432,9 +430,6 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
const bool is_tracked_in_list = find_index(vehicle, &index); const bool is_tracked_in_list = find_index(vehicle, &index);
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
// note the last time the receiver got a packet from the aircraft
vehicle.last_update_ms = now - (vehicle.info.tslc * 1000);
const uint16_t required_flags_position = ADSB_FLAGS_VALID_COORDS | ADSB_FLAGS_VALID_ALTITUDE; const uint16_t required_flags_position = ADSB_FLAGS_VALID_COORDS | ADSB_FLAGS_VALID_ALTITUDE;
const bool detected_ourself = (out_state.cfg.ICAO_id != 0) && ((uint32_t)out_state.cfg.ICAO_id == vehicle.info.ICAO_address); const bool detected_ourself = (out_state.cfg.ICAO_id != 0) && ((uint32_t)out_state.cfg.ICAO_id == vehicle.info.ICAO_address);
@ -500,6 +495,19 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
} }
} }
/*
* Update the vehicle list. If the vehicle is already in the
* list then it will update it, otherwise it will be added.
*/
void AP_ADSB::handle_vehicle(const mavlink_message_t &packet)
{
adsb_vehicle_t vehicle {};
const uint32_t now = AP_HAL::millis();
mavlink_msg_adsb_vehicle_decode(&packet, &vehicle.info);
vehicle.last_update_ms = now - (vehicle.info.tslc * 1000);
handle_adsb_vehicle(vehicle);
}
/* /*
* Copy a vehicle's data into the list * Copy a vehicle's data into the list
*/ */
@ -871,7 +879,7 @@ void AP_ADSB::set_callsign(const char* str, const bool append_icao)
} }
void AP_ADSB::push_sample(adsb_vehicle_t &vehicle) void AP_ADSB::push_sample(const adsb_vehicle_t &vehicle)
{ {
samples.push(vehicle); samples.push(vehicle);
} }

5
libraries/AP_ADSB/AP_ADSB.h
View File

@ -73,6 +73,9 @@ public:
} }
bool next_sample(adsb_vehicle_t &obstacle); bool next_sample(adsb_vehicle_t &obstacle);
// handle a adsb_vehicle_t from an external source (used for UAVCAN)
void handle_adsb_vehicle(const adsb_vehicle_t &vehicle);
// mavlink message handler // mavlink message handler
void handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg); void handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg);
@ -197,7 +200,7 @@ private:
static const uint8_t max_samples = 30; static const uint8_t max_samples = 30;
ObjectBuffer<adsb_vehicle_t> samples{max_samples}; ObjectBuffer<adsb_vehicle_t> samples{max_samples};
void push_sample(adsb_vehicle_t &vehicle); void push_sample(const adsb_vehicle_t &vehicle);
// logging // logging
AP_Int8 _log; AP_Int8 _log;