/* 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 . */ /* AP_Periph ADSB support. This is designed to talk to a Ping ADSB module over the UART */ #include "AP_Periph.h" #ifdef HAL_PERIPH_ENABLE_ADSB #include extern const AP_HAL::HAL &hal; #include "include/mavlink/v2.0/protocol.h" #include "include/mavlink/v2.0/mavlink_types.h" #include "include/mavlink/v2.0/ardupilotmega/mavlink.h" #include "include/mavlink/v2.0/mavlink_helpers.h" /* init ADSB support */ void AP_Periph_FW::adsb_init(void) { if (g.adsb_baudrate > 0) { ADSB_PORT->begin(AP_SerialManager::map_baudrate(g.adsb_baudrate), 256, 256); } } /* update ADSB subsystem */ void AP_Periph_FW::adsb_update(void) { if (g.adsb_baudrate <= 0) { return; } // look for incoming MAVLink ADSB_VEHICLE packets const uint16_t nbytes = ADSB_PORT->available(); for (uint16_t i=0; iread(); // Try to get a new message if (mavlink_parse_char(MAVLINK_COMM_0, c, &adsb.msg, &adsb.status)) { if (adsb.msg.msgid == MAVLINK_MSG_ID_ADSB_VEHICLE) { // decode and send as UAVCAN TrafficReport static mavlink_adsb_vehicle_t msg; mavlink_msg_adsb_vehicle_decode(&adsb.msg, &msg); can_send_ADSB(msg); } } } } #endif // HAL_PERIPH_ENABLE_ADSB