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ardupilot/libraries/AP_ADSB/AP_ADSB.cpp

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/*
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 <http://www.gnu.org/licenses/>.
*/
/*
AP_ADSB.cpp
ADS-B RF based collision avoidance module
https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_ADSB.h"
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <stdio.h> // for sprintf
#include <limits.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h>
#define VEHICLE_TIMEOUT_MS 5000 // if no updates in this time, drop it from the list
#define ADSB_VEHICLE_LIST_SIZE_DEFAULT 25
#define ADSB_VEHICLE_LIST_SIZE_MAX 100
#define ADSB_CHAN_TIMEOUT_MS 15000
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define ADSB_LIST_RADIUS_DEFAULT 10000 // in meters
#else // APM_BUILD_TYPE(APM_BUILD_ArduCopter), Rover, Boat
#define ADSB_LIST_RADIUS_DEFAULT 2000 // in meters
#endif
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_ADSB::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable ADSB
// @Description: Enable ADS-B
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_ADSB, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// index 1 is reserved - was BEHAVIOR
// @Param: LIST_MAX
// @DisplayName: ADSB vehicle list size
// @Description: ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.
// @Range: 1 100
// @User: Advanced
AP_GROUPINFO("LIST_MAX", 2, AP_ADSB, in_state.list_size_param, ADSB_VEHICLE_LIST_SIZE_DEFAULT),
// @Param: LIST_RADIUS
// @DisplayName: ADSB vehicle list radius filter
// @Description: ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations.
// @Range: 1 100000
// @User: Advanced
AP_GROUPINFO("LIST_RADIUS", 3, AP_ADSB, in_state.list_radius, ADSB_LIST_RADIUS_DEFAULT),
// @Param: ICAO_ID
// @DisplayName: ICAO_ID vehicle identifaction number
// @Description: ICAO_ID unique vehicle identifaction number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.
// @Range: -1 16777215
// @User: Advanced
AP_GROUPINFO("ICAO_ID", 4, AP_ADSB, out_state.cfg.ICAO_id_param, 0),
// @Param: EMIT_TYPE
// @DisplayName: Emitter type
// @Description: ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).
// @Values: 0:NoInfo,1:Light,2:Small,3:Large,4:HighVortexlarge,5:Heavy,6:HighlyManuv,7:Rotocraft,8:RESERVED,9:Glider,10:LightAir,11:Parachute,12:UltraLight,13:RESERVED,14:UAV,15:Space,16:RESERVED,17:EmergencySurface,18:ServiceSurface,19:PointObstacle
// @User: Advanced
AP_GROUPINFO("EMIT_TYPE", 5, AP_ADSB, out_state.cfg.emitterType, ADSB_EMITTER_TYPE_UAV),
// @Param: LEN_WIDTH
// @DisplayName: Aircraft length and width
// @Description: Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.
// @Values: 0:NO_DATA,1:L15W23,2:L25W28P5,3:L25W34,4:L35W33,5:L35W38,6:L45W39P5,7:L45W45,8:L55W45,9:L55W52,10:L65W59P5,11:L65W67,12:L75W72P5,13:L75W80,14:L85W80,15:L85W90
// @User: Advanced
AP_GROUPINFO("LEN_WIDTH", 6, AP_ADSB, out_state.cfg.lengthWidth, UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M),
// @Param: OFFSET_LAT
// @DisplayName: GPS antenna lateral offset
// @Description: GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft.
// @Values: 0:NoData,1:Left2m,2:Left4m,3:Left6m,4:Center,5:Right2m,6:Right4m,7:Right6m
// @User: Advanced
AP_GROUPINFO("OFFSET_LAT", 7, AP_ADSB, out_state.cfg.gpsLatOffset, UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M),
// @Param: OFFSET_LON
// @DisplayName: GPS antenna longitudinal offset
// @Description: GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor
// @Values: 0:NO_DATA,1:AppliedBySensor
// @User: Advanced
AP_GROUPINFO("OFFSET_LON", 8, AP_ADSB, out_state.cfg.gpsLonOffset, UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR),
// @Param: RF_SELECT
// @DisplayName: Transceiver RF selection
// @Description: Transceiver RF selection for Rx enable and/or Tx enable.
// @Values: 0:Disabled,1:Rx-Only,2:Tx-Only,3:Rx and Tx Enabled
// @User: Advanced
AP_GROUPINFO("RF_SELECT", 9, AP_ADSB, out_state.cfg.rfSelect, UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED),
AP_GROUPEND
};
/*
* Initialize variables and allocate memory for array
*/
void AP_ADSB::init(void)
{
// in_state
in_state.vehicle_count = 0;
if (in_state.vehicle_list == nullptr) {
if (in_state.list_size_param != constrain_int16(in_state.list_size_param, 1, ADSB_VEHICLE_LIST_SIZE_MAX)) {
in_state.list_size_param.set_and_notify(ADSB_VEHICLE_LIST_SIZE_DEFAULT);
in_state.list_size_param.save();
}
in_state.list_size = in_state.list_size_param;
in_state.vehicle_list = new adsb_vehicle_t[in_state.list_size];
if (in_state.vehicle_list == nullptr) {
// dynamic RAM allocation of _vehicle_list[] failed, disable gracefully
hal.console->printf("Unable to initialize ADS-B vehicle list\n");
_enabled.set_and_notify(0);
}
}
furthest_vehicle_distance = 0;
furthest_vehicle_index = 0;
// out_state
set_callsign("PING1234", false);
}
/*
* de-initialize and free up some memory
*/
void AP_ADSB::deinit(void)
{
in_state.vehicle_count = 0;
if (in_state.vehicle_list != nullptr) {
delete [] in_state.vehicle_list;
in_state.vehicle_list = nullptr;
}
}
/*
* periodic update to handle vehicle timeouts and trigger collision detection
*/
void AP_ADSB::update(void)
{
// update _my_loc
if (!_ahrs.get_position(_my_loc)) {
_my_loc.zero();
}
if (!_enabled) {
if (in_state.vehicle_list != nullptr) {
deinit();
}
// nothing to do
return;
} else if (in_state.vehicle_list == nullptr) {
init();
return;
} else if (in_state.list_size != in_state.list_size_param) {
deinit();
return;
}
uint32_t now = AP_HAL::millis();
// check current list for vehicles that time out
uint16_t index = 0;
while (index < in_state.vehicle_count) {
// check list and drop stale vehicles. When disabled, the list will get flushed
if (now - in_state.vehicle_list[index].last_update_ms > VEHICLE_TIMEOUT_MS) {
// don't increment index, we want to check this same index again because the contents changed
// also, if we're disabled then clear the list
delete_vehicle(index);
} else {
index++;
}
}
if (_my_loc.is_zero()) {
// if we don't have a GPS lock then there's nothing else to do
return;
}
if (out_state.chan < 0) {
// if there's no transceiver detected then do not set ICAO and do not service the transceiver
return;
}
// ensure it's positive 24bit but allow -1
if (out_state.cfg.ICAO_id_param <= -1 || out_state.cfg.ICAO_id_param > 0x00FFFFFF) {
// icao param of -1 means static information is not sent, transceiver is assumed pre-programmed.
// reset timer constantly so it never reaches 10s so it never sends
out_state.last_config_ms = now;
} else if (out_state.cfg.ICAO_id == 0 ||
out_state.cfg.ICAO_id_param_prev != out_state.cfg.ICAO_id_param) {
// if param changed then regenerate. This allows the param to be changed back to zero to trigger a re-generate
if (out_state.cfg.ICAO_id_param == 0) {
out_state.cfg.ICAO_id = genICAO(_my_loc);
} else {
out_state.cfg.ICAO_id = out_state.cfg.ICAO_id_param;
}
out_state.cfg.ICAO_id_param_prev = out_state.cfg.ICAO_id_param;
set_callsign("PING", true);
gcs().send_text(MAV_SEVERITY_INFO, "ADSB: Using ICAO_id %d and Callsign %s", out_state.cfg.ICAO_id, out_state.cfg.callsign);
out_state.last_config_ms = 0; // send now
}
// send static configuration data to transceiver, every 10s
if (out_state.chan_last_ms > 0 && now - out_state.chan_last_ms > ADSB_CHAN_TIMEOUT_MS) {
// haven't gotten a heartbeat health status packet in a while, assume hardware failure
// TODO: reset out_state.chan
out_state.chan = -1;
gcs().send_text(MAV_SEVERITY_ERROR, "ADSB: Transceiver heartbeat timed out");
} else if (out_state.chan < MAVLINK_COMM_NUM_BUFFERS) {
mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan);
if (now - out_state.last_config_ms >= 5000 && HAVE_PAYLOAD_SPACE(chan, UAVIONIX_ADSB_OUT_CFG)) {
out_state.last_config_ms = now;
send_configure(chan);
} // last_config_ms
// send dynamic data to transceiver at 5Hz
if (now - out_state.last_report_ms >= 200 && HAVE_PAYLOAD_SPACE(chan, UAVIONIX_ADSB_OUT_DYNAMIC)) {
out_state.last_report_ms = now;
send_dynamic_out(chan);
} // last_report_ms
} // chan_last_ms
}
/*
* determine index and distance of furthest vehicle. This is
* used to bump it off when a new closer aircraft is detected
*/
void AP_ADSB::determine_furthest_aircraft(void)
{
float max_distance = 0;
uint16_t max_distance_index = 0;
for (uint16_t index = 0; index < in_state.vehicle_count; index++) {
float distance = _my_loc.get_distance(get_location(in_state.vehicle_list[index]));
if (max_distance < distance || index == 0) {
max_distance = distance;
max_distance_index = index;
}
} // for index
furthest_vehicle_index = max_distance_index;
furthest_vehicle_distance = max_distance;
}
/*
* Convert/Extract a Location from a vehicle
*/
Location_Class AP_ADSB::get_location(const adsb_vehicle_t &vehicle) const
{
Location_Class loc = Location_Class(
vehicle.info.lat,
vehicle.info.lon,
vehicle.info.altitude * 0.1f,
Location_Class::ALT_FRAME_ABSOLUTE);
return loc;
}
/*
* delete a vehicle by copying last vehicle to
* current index then decrementing count
*/
void AP_ADSB::delete_vehicle(const uint16_t index)
{
if (index < in_state.vehicle_count) {
// if the vehicle is the furthest, invalidate it. It has been bumped
if (index == furthest_vehicle_index && furthest_vehicle_distance > 0) {
furthest_vehicle_distance = 0;
furthest_vehicle_index = 0;
}
if (index != (in_state.vehicle_count-1)) {
in_state.vehicle_list[index] = in_state.vehicle_list[in_state.vehicle_count-1];
}
// TODO: is memset needed? When we decrement the index we essentially forget about it
memset(&in_state.vehicle_list[in_state.vehicle_count-1], 0, sizeof(adsb_vehicle_t));
in_state.vehicle_count--;
}
}
/*
* Search _vehicle_list for the given vehicle. A match
* depends on ICAO_address. Returns true if match found
* and index is populated. otherwise, return false.
*/
bool AP_ADSB::find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const
{
for (uint16_t i = 0; i < in_state.vehicle_count; i++) {
if (in_state.vehicle_list[i].info.ICAO_address == vehicle.info.ICAO_address) {
*index = i;
return true;
}
}
return false;
}
/*
* Update the vehicle list. If the vehicle is already in the
* list then it will update it, otherwise it will be added.
*/
void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
{
if (in_state.vehicle_list == nullptr) {
// We are only null when disabled. Updating is inhibited.
return;
}
uint16_t index = in_state.list_size + 1; // initialize with invalid index
adsb_vehicle_t vehicle {};
mavlink_msg_adsb_vehicle_decode(packet, &vehicle.info);
Location_Class vehicle_loc = Location_Class(AP_ADSB::get_location(vehicle));
bool my_loc_is_zero = _my_loc.is_zero();
float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius;
bool is_tracked_in_list = find_index(vehicle, &index);
uint32_t now = AP_HAL::millis();
// note the last time the receiver got a packet from the aircraft
vehicle.last_update_ms = now - (vehicle.info.tslc * 1000);
const uint16_t required_flags_position = ADSB_FLAGS_VALID_COORDS | ADSB_FLAGS_VALID_ALTITUDE;
const bool detected_ourself = (out_state.cfg.ICAO_id != 0) && ((uint32_t)out_state.cfg.ICAO_id == vehicle.info.ICAO_address);
if (vehicle_loc.is_zero() ||
out_of_range ||
detected_ourself ||
(vehicle.info.ICAO_address > 0x00FFFFFF) || // ICAO address is 24bits, so ignore higher values.
!(vehicle.info.flags & required_flags_position) ||
now - vehicle.last_update_ms > VEHICLE_TIMEOUT_MS) {
// vehicle is out of range or invalid lat/lng. If we're tracking it, delete from list. Otherwise ignore it.
if (is_tracked_in_list) {
delete_vehicle(index);
}
return;
} else if (is_tracked_in_list) {
// found, update it
set_vehicle(index, vehicle);
} else if (in_state.vehicle_count < in_state.list_size) {
// not found and there's room, add it to the end of the list
set_vehicle(in_state.vehicle_count, vehicle);
in_state.vehicle_count++;
} else {
// buffer is full. if new vehicle is closer than furthest, replace furthest with new
if (my_loc_is_zero) {
// nothing else to do
furthest_vehicle_distance = 0;
furthest_vehicle_index = 0;
} else {
if (furthest_vehicle_distance <= 0) {
// ensure this is populated
determine_furthest_aircraft();
}
if (my_loc_distance_to_vehicle < furthest_vehicle_distance) { // is closer than the furthest
// replace with the furthest vehicle
set_vehicle(furthest_vehicle_index, vehicle);
// furthest_vehicle_index is now invalid because the vehicle was overwritten, need
// to run determine_furthest_aircraft() to determine a new one next time
furthest_vehicle_distance = 0;
furthest_vehicle_index = 0;
}
}
} // if buffer full
const uint16_t required_flags_avoidance =
ADSB_FLAGS_VALID_COORDS |
ADSB_FLAGS_VALID_ALTITUDE |
ADSB_FLAGS_VALID_HEADING |
ADSB_FLAGS_VALID_VELOCITY;
if (vehicle.info.flags & required_flags_avoidance) {
push_sample(vehicle); // note that set_vehicle modifies vehicle
}
}
/*
* Copy a vehicle's data into the list
*/
void AP_ADSB::set_vehicle(const uint16_t index, const adsb_vehicle_t &vehicle)
{
if (index < in_state.list_size) {
in_state.vehicle_list[index] = vehicle;
}
}
void AP_ADSB::send_adsb_vehicle(const mavlink_channel_t chan)
{
if (in_state.vehicle_list == nullptr || in_state.vehicle_count == 0) {
return;
}
uint32_t now = AP_HAL::millis();
if (in_state.send_index[chan] >= in_state.vehicle_count) {
// we've finished a list
if (now - in_state.send_start_ms[chan] < 1000) {
// too soon to start a new one
return;
} else {
// start new list
in_state.send_start_ms[chan] = now;
in_state.send_index[chan] = 0;
}
}
if (in_state.send_index[chan] < in_state.vehicle_count) {
mavlink_adsb_vehicle_t vehicle = in_state.vehicle_list[in_state.send_index[chan]].info;
in_state.send_index[chan]++;
mavlink_msg_adsb_vehicle_send(chan,
vehicle.ICAO_address,
vehicle.lat,
vehicle.lon,
vehicle.altitude_type,
vehicle.altitude,
vehicle.heading,
vehicle.hor_velocity,
vehicle.ver_velocity,
vehicle.callsign,
vehicle.emitter_type,
vehicle.tslc,
vehicle.flags,
vehicle.squawk);
}
}
void AP_ADSB::send_dynamic_out(const mavlink_channel_t chan)
{
AP_GPS gps = _ahrs.get_gps();
Vector3f gps_velocity = gps.velocity();
int32_t latitude = _my_loc.lat;
int32_t longitude = _my_loc.lng;
int32_t altGNSS = _my_loc.alt * 10; // convert cm to mm
int16_t velVert = gps_velocity.z * 1E2; // convert m/s to cm/s
int16_t nsVog = gps_velocity.x * 1E2; // convert m/s to cm/s
int16_t ewVog = gps_velocity.y * 1E2; // convert m/s to cm/s
uint8_t fixType = gps.status(); // this lines up perfectly with our enum
uint8_t emStatus = 0; // TODO: implement this ENUM. no emergency = 0
uint8_t numSats = gps.num_sats();
uint16_t squawk = 1200; // Mode A code (typically 1200 [0x04B0] for VFR)
uint32_t accHoriz = UINT_MAX;
float accHoriz_f;
if (gps.horizontal_accuracy(accHoriz_f)) {
accHoriz = accHoriz_f * 1E3; // convert m to mm
}
uint16_t accVert = USHRT_MAX;
float accVert_f;
if (gps.vertical_accuracy(accVert_f)) {
accVert = accVert_f * 1E2; // convert m to cm
}
uint16_t accVel = USHRT_MAX;
float accVel_f;
if (gps.speed_accuracy(accVel_f)) {
accVel = accVel_f * 1E3; // convert m/s to mm/s
}
uint16_t state = 0;
if (out_state._is_in_auto_mode) {
state |= UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED;
}
if (!out_state.is_flying) {
state |= UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND;
}
// TODO: confirm this sets utcTime correctly
const uint64_t gps_time = gps.time_epoch_usec();
const uint32_t utcTime = gps_time / 1000000ULL;
AP_Baro baro = _ahrs.get_baro();
int32_t altPres = INT_MAX;
if (baro.healthy()) {
// Altitude difference between 101325 (Pascals) and current pressure. Result in millimeters
altPres = baro.get_altitude_difference(101325, baro.get_pressure()) * 1E3; // convert m to mm;
}
mavlink_msg_uavionix_adsb_out_dynamic_send(
chan,
utcTime,
latitude,
longitude,
altGNSS,
fixType,
numSats,
altPres,
accHoriz,
accVert,
accVel,
velVert,
nsVog,
ewVog,
emStatus,
state,
squawk);
}
void AP_ADSB::send_configure(const mavlink_channel_t chan)
{
mavlink_msg_uavionix_adsb_out_cfg_send(
chan,
(uint32_t)out_state.cfg.ICAO_id,
out_state.cfg.callsign,
(uint8_t)out_state.cfg.emitterType,
(uint8_t)out_state.cfg.lengthWidth,
(uint8_t)out_state.cfg.gpsLatOffset,
(uint8_t)out_state.cfg.gpsLonOffset,
out_state.cfg.stall_speed_cm,
(uint8_t)out_state.cfg.rfSelect);
}
/*
* this is a message from the transceiver reporting it's health. Using this packet
* we determine which channel is on so we don't have to send out_state to all channels
*/
void AP_ADSB::handle_transceiver_report(const mavlink_channel_t chan, const mavlink_message_t* msg)
{
mavlink_uavionix_adsb_transceiver_health_report_t packet {};
mavlink_msg_uavionix_adsb_transceiver_health_report_decode(msg, &packet);
if (out_state.chan != chan) {
gcs().send_text(MAV_SEVERITY_DEBUG, "ADSB: Found transceiver on channel %d", chan);
}
out_state.chan_last_ms = AP_HAL::millis();
out_state.chan = chan;
out_state.status = (UAVIONIX_ADSB_RF_HEALTH)packet.rfHealth;
}
/*
@brief Generates pseudorandom ICAO from gps time, lat, and lon.
Reference: DO282B, 2.2.4.5.1.3.2
Note gps.time is the number of seconds since UTC midnight
*/
uint32_t AP_ADSB::genICAO(const Location_Class &loc)
{
// gps_time is not seconds since UTC midnight, but it is an equivalent random number
// TODO: use UTC time instead of GPS time
AP_GPS gps = _ahrs.get_gps();
const uint64_t gps_time = gps.time_epoch_usec();
uint32_t timeSum = 0;
uint32_t M3 = 4096 * (loc.lat & 0x00000FFF) + (loc.lng & 0x00000FFF);
for (uint8_t i=0; i<24; i++) {
timeSum += (((gps_time & 0x00FFFFFF)>> i) & 0x00000001);
}
return( (timeSum ^ M3) & 0x00FFFFFF);
}
// assign a string to out_state.cfg.callsign but ensure it's null terminated
void AP_ADSB::set_callsign(const char* str, const bool append_icao)
{
bool zero_char_pad = false;
// clean slate
memset(out_state.cfg.callsign, 0, sizeof(out_state.cfg.callsign));
// copy str to cfg.callsign but we can't use strncpy because we need
// to restrict values to only 'A' - 'Z' and '0' - '9' and pad
for (uint8_t i=0; i<sizeof(out_state.cfg.callsign)-1; i++) {
if (!str[i] || zero_char_pad) {
// finish early. Either pad the rest with zero char or null terminate and call it a day
if ((append_icao && i<4) || zero_char_pad) {
out_state.cfg.callsign[i] = '0';
zero_char_pad = true;
} else {
// already null terminated via memset so just stop
break;
}
} else if (('A' <= str[i] && str[i] <= 'Z') ||
('0' <= str[i] && str[i] <= '9')) {
// valid as-is
// spaces are also allowed but are handled in the last else
out_state.cfg.callsign[i] = str[i];
} else if ('a' <= str[i] && str[i] <= 'z') {
// toupper()
out_state.cfg.callsign[i] = str[i] - ('a' - 'A');
} else if (i == 0) {
// invalid, pad to char zero because first index can't be space
out_state.cfg.callsign[i] = '0';
} else {
// invalid, pad with space
out_state.cfg.callsign[i] = ' ';
}
} // for i
if (append_icao) {
snprintf(&out_state.cfg.callsign[4], 5, "%04X", out_state.cfg.ICAO_id % 0x10000);
}
}
void AP_ADSB::push_sample(adsb_vehicle_t &vehicle)
{
samples.push_back(vehicle);
}
bool AP_ADSB::next_sample(adsb_vehicle_t &vehicle)
{
return samples.pop_front(vehicle);
}
void AP_ADSB::handle_message(const mavlink_channel_t chan, const mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_ADSB_VEHICLE:
handle_vehicle(msg);
break;
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
handle_transceiver_report(chan, msg);
break;
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
// unhandled, these are outbound packets only
default:
break;
}
}
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