mirror of https://github.com/ArduPilot/ardupilot
63 lines
2.0 KiB
C++
63 lines
2.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* adsb.cpp
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* Copyright (C) Tom Pittenger 2015
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Copter.h"
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#if ADSB_ENABLED == ENABLED
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/*
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* this module deals with ADS-B handling for ArduPilot
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* ADS-B is an RF based collision avoidance protocol to tell nearby aircraft your location
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* https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast
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*
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*/
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/*
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handle periodic adsb database maintenance and handle threats
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*/
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void Copter::adsb_update(void)
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{
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adsb.update();
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adsb_handle_vehicle_threats();
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}
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/*
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* Handle ADS-B based threats which are platform dependent
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*/
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void Copter::adsb_handle_vehicle_threats(void)
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{
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// handle clearing of threat
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if (adsb.get_is_evading_threat() && !adsb.get_another_vehicle_within_radius()) {
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adsb.set_is_evading_threat(false);
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_RESOLVED);
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gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat cleared");
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return;
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}
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// handle new threat
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if (!adsb.get_is_evading_threat() && adsb.get_another_vehicle_within_radius()) {
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adsb.set_is_evading_threat(true);
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_OCCURRED);
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gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat!");
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return;
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}
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}
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#endif // #ADSB_ENABLED
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