aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

SITL: ADSB: Don't hard code the emitter type

Browse Source
This commit is contained in:
Michael du Breuil 2019-11-18 13:17:51 -07:00 committed by Andrew Tridgell
parent 2cfdfb38e7
commit feead0a42c
2 changed files with 13 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/SITL/SIM_ADSB.cpp
View File

@ -49,9 +49,17 @@ void ADSB_Vehicle::update(float delta_t)
vel_min *= 10;
vel_max *= 10;
}
velocity_ef.x = Aircraft::rand_normal(vel_min, vel_max);
velocity_ef.y = Aircraft::rand_normal(vel_min, vel_max);
velocity_ef.z = Aircraft::rand_normal(0, 3);
type = (ADSB_EMITTER_TYPE)(rand() % (ADSB_EMITTER_TYPE_POINT_OBSTACLE + 1));
// don't allow surface emitters to move
if (type == ADSB_EMITTER_TYPE_POINT_OBSTACLE) {
velocity_ef.zero();
} else {
velocity_ef.x = Aircraft::rand_normal(vel_min, vel_max);
velocity_ef.y = Aircraft::rand_normal(vel_min, vel_max);
if (type < ADSB_EMITTER_TYPE_EMERGENCY_SURFACE) {
velocity_ef.z = Aircraft::rand_normal(-3, 3);
}
}
}
position += velocity_ef * delta_t;
@ -203,7 +211,7 @@ void ADSB::send_report(void)
adsb_vehicle.hor_velocity = norm(vehicle.velocity_ef.x, vehicle.velocity_ef.y) * 100;
adsb_vehicle.ver_velocity = -vehicle.velocity_ef.z * 100;
memcpy(adsb_vehicle.callsign, vehicle.callsign, sizeof(adsb_vehicle.callsign));
adsb_vehicle.emitter_type = ADSB_EMITTER_TYPE_LARGE;
adsb_vehicle.emitter_type = vehicle.type;
adsb_vehicle.tslc = 1;
adsb_vehicle.flags =
ADSB_FLAGS_VALID_COORDS |

1
libraries/SITL/SIM_ADSB.h
View File

@ -38,6 +38,7 @@ private:
char callsign[9];
uint32_t ICAO_address;
bool initialised = false;
ADSB_EMITTER_TYPE type;
};
class ADSB {