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AP_ADSB: reject packets that are invalid or already stale

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This commit is contained in:
Tom Pittenger 2016-08-01 12:44:20 -07:00
parent b12edf6a71
commit 5c0b5f5cd1
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_ADSB/AP_ADSB.cpp
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@ -401,7 +401,12 @@ void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
// note the last time the receiver got a packet from the aircraft
vehicle.last_update_ms = now - (vehicle.info.tslc * 1000);
if (vehicle_loc.is_zero() || out_of_range) {
const uint16_t required_flags_position = ADSB_FLAGS_VALID_COORDS | ADSB_FLAGS_VALID_ALTITUDE;
if (vehicle_loc.is_zero() ||
out_of_range ||
!(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) {