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px4-firmware/msg/TransponderReport.msg

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add timestamp field to uORB msgs; sync timestamp whenever possible
2018-08-06 21:30:05 -03:00
uint64 timestamp # time since system start (microseconds)
update msgs fields from camelCase to snake_case so rosidl_generate_interfaces() is able to generate code for ROS IDL files
2018-07-29 17:28:59 -03:00
uint32 icao_address # ICAO address
Add ADSB transponder report
2016-04-17 12:56:39 -03:00
float64 lat # Latitude, expressed as degrees
float64 lon # Longitude, expressed as degrees
uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
float32 altitude # Altitude(ASL) in meters
Navigator: Add the ability to do a low-altitude RTL to avoid traffic This is a first baseline implementation for collision avoidance with aircraft equipped with transponders. Since the drone-to-drone and drone-to-airplane system will be regulated by a standard, we do carefully avoid to do anything too fancy. This implementation allows to reduce altitude to get close to ground and land immediately or RTL. This is similar to what a human pilot would do and allows to get out of manned airspace which is at higher altitudes.
2017-10-30 18:41:06 -03:00
float32 heading # Course over ground in radians, -pi to +pi, 0 is north
Add ADSB transponder report
2016-04-17 12:56:39 -03:00
float32 hor_velocity # The horizontal velocity in m/s
float32 ver_velocity # The vertical velocity in m/s, positive is up
char[9] callsign # The callsign, 8+null
uint8 emitter_type # Type from ADSB_EMITTER_TYPE enum
uint8 tslc # Time since last communication in seconds
uint16 flags # Flags to indicate various statuses including valid data fields
uint16 squawk # Squawk code
ADSB traffic avoidance improvements using UTM_GLOBAL_POSITION (#13159) * Treat UAVS diffrently from manned aviation * Added fake_traffic testing functionality, * Added NAV_TRAFF_AVOID Hold and Landmode * Added Behavior: HOLD Position to collision avoidance mode and implemented Landmode to collision avoidance. Boards where no Hardware GUID is defined will send 0 as GUID. Right now collision avoidance for more than one FMU without Hardware GUID is not possible. We should consider adding a randomly generated HW GUID as a placeholder for legacy Boards
2020-01-17 15:58:28 -04:00
uint8[18] uas_id # Unique UAS ID
MAVLink: Queue transponder reports and send them at full data rate This will ensure that no transponder reports are dropped and that all received reports are passed on to the GCS and other devices.
2017-07-20 03:31:08 -03:00
Don't use ADSB messages with undefined fields in navigator (#8900) Don't use ADSB messages with undefined fields in navigator
2018-02-18 06:08:40 -04:00
# ADSB flags
uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
uint16 PX4_ADSB_FLAGS_RETRANSLATE = 256
ADSB traffic avoidance improvements using UTM_GLOBAL_POSITION (#13159) * Treat UAVS diffrently from manned aviation * Added fake_traffic testing functionality, * Added NAV_TRAFF_AVOID Hold and Landmode * Added Behavior: HOLD Position to collision avoidance mode and implemented Landmode to collision avoidance. Boards where no Hardware GUID is defined will send 0 as GUID. Right now collision avoidance for more than one FMU without Hardware GUID is not possible. We should consider adding a randomly generated HW GUID as a placeholder for legacy Boards
2020-01-17 15:58:28 -04:00
#ADSB Emitter Data:
#from mavlink/v2.0/common/common.h
uint16 ADSB_EMITTER_TYPE_NO_INFO=0
uint16 ADSB_EMITTER_TYPE_LIGHT=1
uint16 ADSB_EMITTER_TYPE_SMALL=2
uint16 ADSB_EMITTER_TYPE_LARGE=3
uint16 ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE=4
uint16 ADSB_EMITTER_TYPE_HEAVY=5
uint16 ADSB_EMITTER_TYPE_HIGHLY_MANUV=6
uint16 ADSB_EMITTER_TYPE_ROTOCRAFT=7
uint16 ADSB_EMITTER_TYPE_UNASSIGNED=8
uint16 ADSB_EMITTER_TYPE_GLIDER=9
uint16 ADSB_EMITTER_TYPE_LIGHTER_AIR=10
uint16 ADSB_EMITTER_TYPE_PARACHUTE=11
uint16 ADSB_EMITTER_TYPE_ULTRA_LIGHT=12
uint16 ADSB_EMITTER_TYPE_UNASSIGNED2=13
uint16 ADSB_EMITTER_TYPE_UAV=14
uint16 ADSB_EMITTER_TYPE_SPACE=15
uint16 ADSB_EMITTER_TYPE_UNASSGINED3=16
uint16 ADSB_EMITTER_TYPE_EMERGENCY_SURFACE=17
uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
uint16 ADSB_EMITTER_TYPE_ENUM_END=20
uORB: make queue size (ORB_QUEUE_LENGTH) completely static (#22815) Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static. Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions. * Made setting of uORB topic queue size in based on topic definition only * Fixes to the ModalAI muorb implementation * Removed libfc sensor from format checks * msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h --------- Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com> Co-authored-by: Daniel Agar <daniel@agar.ca>
2024-03-08 17:28:24 -04:00
uint8 ORB_QUEUE_LENGTH = 16