/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* ADSB peripheral simulator class */ #pragma once #include #include "SIM_Aircraft.h" namespace SITL { /* a class for individual simulated vehicles */ class ADSB_Vehicle { friend class ADSB; private: void update(float delta_t); Vector3f position; // NED from origin Vector3f velocity_ef; // NED char callsign[9]; uint32_t ICAO_address; bool initialised = false; }; class ADSB { public: ADSB(const struct sitl_fdm &_fdm, const char *home_str); void update(void); private: const struct sitl_fdm &fdm; const char *target_address = "127.0.0.1"; const uint16_t target_port = 5762; Location home; static const uint8_t num_vehicles = 6; ADSB_Vehicle vehicles[num_vehicles]; // reporting period in ms const float reporting_period_ms = 500; uint32_t last_report_us = 0; uint32_t last_update_us = 0; uint32_t last_heartbeat_ms = 0; bool seen_heartbeat = false; uint8_t vehicle_system_id; uint8_t vehicle_component_id; SocketAPM mav_socket { false }; struct { // socket to telem2 on aircraft bool connected; mavlink_message_t rxmsg; mavlink_status_t status; uint8_t seq; } mavlink {}; void send_report(void); }; } // namespace SITL