mirror of https://github.com/ArduPilot/ardupilot
132 lines
2.7 KiB
C
132 lines
2.7 KiB
C
/**
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* @copyright Copyright (c) 2020 Sagetech, Inc. All rights reserved.
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*
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* @File: target.h
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* @Author: jim billmeyer
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*
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* @date December 11, 2020, 12:49 AM
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*/
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#ifndef TARGET_H
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#define TARGET_H
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#include <string.h>
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#include <stdbool.h>
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#include <stdint.h>
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#define XPNDR_ADSB_TARGETS 400 // change this to the max number of
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// target supported in the system.
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typedef enum
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{
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trafLevel,
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trafClimb,
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trafDescend
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} targetclimb_t;
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typedef enum
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{
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trafTraffic,
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trafAdvisory,
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trafResolution
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} targetalert_t;
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// bit 0 - target found flag.
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// bit 1 - target slot in use.
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// bits 2-7 - the strike counter.
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#define TARGET_FLAG_FOUND 0x01
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#define TARGET_FLAG_USED 0x02
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#define TARGET_FLAG_STRIKE_MASK 0xFC
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typedef struct __attribute__((packed))
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{
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uint32_t icao;
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bool airborne;
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float bearing;
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uint8_t distance;
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int8_t altDiff;
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int16_t nvel;
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int16_t evel;
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targetclimb_t climb;
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targetalert_t alert;
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#ifdef TARGET_SVR
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msg_svr_t svr;
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#endif
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uint8_t flag; // used internally to purge stale targets.
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} target_t;
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typedef struct
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{
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uint32_t icao;
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bool airborne;
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float lat;
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float lon;
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int32_t alt;
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int16_t heading;
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uint16_t speed;
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} ownship_t;
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/**
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* Gets the target list.
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*
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* @return The array of traffic targets.
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*/
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target_t *targetList(void);
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/**
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* Gets the ownship target information.
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*
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* @return The ownship target info.
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*/
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ownship_t *targetOwnship(void);
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/**
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* Find a target based on its icao number.
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*
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* @param icao The target's icao number
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*
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* @return A pointer to the target element or null if not found.
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*/
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target_t *targetFind(uint32_t icao);
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/**
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* Purge the traffic target list of stale traffic.
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*
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* The traffic gets purged if a find has not been done based
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* on a strike counter.
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*/
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void targetPurge(void);
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/**
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* Adds a target to the traffic target list.
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*
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* @param target The target to add.
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*/
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void targetAdd(target_t *target);
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/**
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* Gets the target climb flag based on the vertical rate.
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*
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* @param vrate The current vertical rate of climb for the target.
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*
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* @return The level, climb or descend flag.
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*/
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targetclimb_t targetClimb(int16_t vrate);
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/**
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* Gets the traffic alert flag.
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*
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* @param dist The distance of the target to the ownship.
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* @param alt The altitude difference between the target and ownship.
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* @param nvel The NS speed vector of the target.
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* @param evel The EW speed vector of the target.
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*
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* @return The traffic flag based on the parameters.
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*/
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targetalert_t targetAlert(double dist,
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uint16_t alt,
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int16_t nvel,
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int16_t evel);
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#endif /* TARGET_H */
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