/*
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
#ifndef HAL_SIM_ADSB_ENABLED
#define HAL_SIM_ADSB_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif
#if HAL_SIM_ADSB_ENABLED
#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;
ADSB_EMITTER_TYPE type;
};
class ADSB {
public:
ADSB(const struct sitl_fdm &_fdm, const Location& _home, const uint8_t _instance) : home(_home), instance(_instance) {};
void update(void);
private:
const char *target_address = "127.0.0.1";
const uint16_t target_port_base = 5762;
const uint8_t instance = 0;
const Location& home;
uint8_t num_vehicles = 0;
static const uint8_t num_vehicles_MAX = 200;
ADSB_Vehicle vehicles[num_vehicles_MAX];
// reporting period in ms
const float reporting_period_ms = 1000;
uint32_t last_report_us = 0;
uint32_t last_update_us = 0;
uint32_t last_tx_report_ms = 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
#endif // HAL_SIM_ADSB_ENABLED