ardupilot/ArduCopter/adsb.cpp

63 lines
2.0 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* adsb.cpp
* Copyright (C) Tom Pittenger 2015
*
* This file 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 file 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 <http://www.gnu.org/licenses/>.
*/
#include "Copter.h"
#if ADSB_ENABLED == ENABLED
/*
* this module deals with ADS-B handling for ArduPilot
* ADS-B is an RF based collision avoidance protocol to tell nearby aircraft your location
* https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast
*
*/
/*
handle periodic adsb database maintenance and handle threats
*/
void Copter::adsb_update(void)
{
adsb.update();
adsb_handle_vehicle_threats();
}
/*
* Handle ADS-B based threats which are platform dependent
*/
void Copter::adsb_handle_vehicle_threats(void)
{
// handle clearing of threat
if (adsb.get_is_evading_threat() && !adsb.get_possible_threat()) {
adsb.set_is_evading_threat(false);
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_RESOLVED);
gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat cleared");
return;
}
// handle new threat
if (!adsb.get_is_evading_threat() && adsb.get_possible_threat()) {
adsb.set_is_evading_threat(true);
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_OCCURRED);
gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat!");
return;
}
}
#endif // #ADSB_ENABLED