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Add Traffic Avoidance System (ADSB/FLARM) Arming Check (#26390)

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* Add traffic avoidance system checks

* Update msg/px4_msgs_old/msg/VehicleStatusV1.msg

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

* docs: add arming check for traffic avoidance systems in ADS-B/FLARM documentation

* fix formating

* trafficAvoidanceCheck: switch case for configuration options

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Claudio Chies
2026-02-16 11:10:32 -08:00
committed by Matthias Grob
parent adc9a6d35d
commit 05de941399
15 changed files with 256 additions and 54 deletions
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23
docs/en/peripherals/adsb_flarm.md
View File

@@ -73,11 +73,28 @@ Configure the action when there is a potential collision using the parameter bel
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. |
| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). |
| <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). |
| <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. |
| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). |
| <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). |
| <a id="NAV_TRAFF_COLL_T"></a>[NAV_TRAFF_COLL_T](../advanced_config/parameter_reference.md#NAV_TRAFF_COLL_T) | Collision time threshold. Avoidance will trigger if the estimated time until collision drops below this value (the estimated time is based on relative speed of traffic and UAV). |
### Arming Check
PX4 can be configured to check for the presence of a traffic avoidance system (ADSB or FLARM transponder) before arming.
This ensures that a traffic avoidance system is connected and functioning before flight.
The check is configured using the [COM_ARM_TRAFF](../advanced_config/parameter_reference.md#COM_ARM_TRAFF) parameter:
| Value | Description |
| ----- | --------------------------------------------------------------------------------------------------------------------------- |
| 0 | Disabled (default). No check is performed. |
| 1 | Warning only. A warning is issued if no traffic avoidance system is detected, but arming is allowed. |
| 2 | Enforce for all modes. Arming is denied if no traffic avoidance system is detected, regardless of flight mode. |
| 3 | Enforce for mission modes only. Arming is denied if no traffic avoidance system is detected and a mission mode is planned. |
When a traffic avoidance system is detected, the system tracks its presence with a 3-second timeout.
If the system is lost or regained, corresponding events are logged ("Traffic avoidance system lost" / "Traffic avoidance system regained").
## Implementation
### ADSB/FLARM

1
msg/TelemetryStatus.msg
View File

@@ -43,6 +43,7 @@ bool heartbeat_type_gcs # MAV_TYPE_GCS
bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
bool heartbeat_type_adsb # MAV_TYPE_ADSB
bool heartbeat_type_flarm # MAV_TYPE_FLARM
bool heartbeat_type_camera # MAV_TYPE_CAMERA
bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE
bool heartbeat_type_open_drone_id # MAV_TYPE_ODID

98
msg/px4_msgs_old/msg/VehicleStatusV1.msg
View File

@@ -2,14 +2,14 @@
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
uint64 armed_time # Arming timestamp (microseconds)
uint64 takeoff_time # Takeoff timestamp (microseconds)
uint64 armed_time # [us] Arming timestamp
uint64 takeoff_time # [us] Takeoff timestamp
uint8 arming_state
uint8 ARMING_STATE_DISARMED = 1
uint8 ARMING_STATE_ARMED = 2
uint8 ARMING_STATE_ARMED = 2
uint8 latest_arming_reason
uint8 latest_disarming_reason
@@ -24,34 +24,34 @@ uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
uint8 ARM_DISARM_REASON_RC_BUTTON = 13
uint8 ARM_DISARM_REASON_FAILSAFE = 14
uint64 nav_state_timestamp # time when current nav_state activated
uint64 nav_state_timestamp # Time when current nav_state activated
uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
uint8 nav_state # Currently active mode
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 nav_state # [@enum NAVIGATION_STATE] Currently active mode
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
uint8 NAVIGATION_STATE_FREE5 = 7
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
uint8 NAVIGATION_STATE_FREE3 = 9
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_FREE2 = 11
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_FREE1 = 16
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
uint8 NAVIGATION_STATE_EXTERNAL1 = 23
uint8 NAVIGATION_STATE_EXTERNAL2 = 24
uint8 NAVIGATION_STATE_EXTERNAL3 = 25
@@ -62,29 +62,29 @@ uint8 NAVIGATION_STATE_EXTERNAL7 = 29
uint8 NAVIGATION_STATE_EXTERNAL8 = 30
uint8 NAVIGATION_STATE_MAX = 31
uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
uint8 executor_in_charge # [-] Current mode executor in charge (0=Autopilot)
uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
uint32 valid_nav_states_mask # [-] Bitmask for all valid nav_state values
uint32 can_set_nav_states_mask # [-] Bitmask for all modes that a user can select
# Bitmask of detected failures
uint16 failure_detector_status
uint16 failure_detector_status # [@enum FAILURE]
uint16 FAILURE_NONE = 0
uint16 FAILURE_ROLL = 1 # (1 << 0)
uint16 FAILURE_PITCH = 2 # (1 << 1)
uint16 FAILURE_ALT = 4 # (1 << 2)
uint16 FAILURE_EXT = 8 # (1 << 3)
uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
uint16 FAILURE_BATTERY = 32 # (1 << 5)
uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
uint16 FAILURE_MOTOR = 128 # (1 << 7)
uint16 FAILURE_ROLL = 1 # (1 << 0)
uint16 FAILURE_PITCH = 2 # (1 << 1)
uint16 FAILURE_ALT = 4 # (1 << 2)
uint16 FAILURE_EXT = 8 # (1 << 3)
uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
uint16 FAILURE_BATTERY = 32 # (1 << 5)
uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
uint16 FAILURE_MOTOR = 128 # (1 << 7)
uint8 hil_state
uint8 hil_state # [enum HIL_STATE]
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1
# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
uint8 vehicle_type
uint8 vehicle_type # [@enum VEHICLE_TYPE]
uint8 VEHICLE_TYPE_UNSPECIFIED = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
@@ -96,29 +96,29 @@ uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would tr
bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
uint8 failsafe_defer_state # [@enum FAILSAFE_DEFER_STATE]
# Link loss
bool gcs_connection_lost # datalink to GCS lost
uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
bool gcs_connection_lost # datalink to GCS lost
uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
# VTOL flags
bool is_vtol # True if the system is VTOL capable
bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
bool in_transition_mode # True if VTOL is doing a transition
bool is_vtol # True if the system is VTOL capable
bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
bool in_transition_mode # True if VTOL is doing a transition
bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
# MAVLink identification
uint8 system_type # system type, contains mavlink MAV_TYPE
uint8 system_id # system id, contains MAVLink's system ID field
uint8 system_type # system type, contains mavlink MAV_TYPE
uint8 system_id # system id, contains MAVLink's system ID field
uint8 component_id # subsystem / component id, contains MAVLink's component ID field
bool safety_button_available # Set to true if a safety button is connected
bool safety_off # Set to true if safety is off
bool power_input_valid # set if input power is valid
bool usb_connected # set to true (never cleared) once telemetry received from usb link
bool power_input_valid # Set if input power is valid
bool usb_connected # Set to true (never cleared) once telemetry received from usb link
bool open_drone_id_system_present
bool open_drone_id_system_healthy
@@ -129,4 +129,4 @@ bool parachute_system_healthy
bool rc_calibration_in_progress
bool calibration_enabled
bool pre_flight_checks_pass # true if all checks necessary to arm pass
bool pre_flight_checks_pass # true if all checks necessary to arm pass

8
msg/translation_node/translations/translation_vehicle_status_v2.h
View File

@@ -1,5 +1,5 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* Copyright (c) 2026 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
@@ -19,6 +19,7 @@ public:
static constexpr const char* kTopic = "fmu/out/vehicle_status";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
// Set msg_newer from msg_older
msg_newer.timestamp = msg_older.timestamp;
msg_newer.armed_time = msg_older.armed_time;
msg_newer.takeoff_time = msg_older.takeoff_time;
@@ -56,13 +57,14 @@ public:
msg_newer.open_drone_id_system_healthy = msg_older.open_drone_id_system_healthy;
msg_newer.parachute_system_present = msg_older.parachute_system_present;
msg_newer.parachute_system_healthy = msg_older.parachute_system_healthy;
msg_newer.traffic_avoidance_system_present = false; // New field, default to false
msg_newer.rc_calibration_in_progress = msg_older.rc_calibration_in_progress;
msg_newer.calibration_enabled = msg_older.calibration_enabled;
msg_newer.pre_flight_checks_pass = msg_older.pre_flight_checks_pass;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
// copy everything except the new executor_nav_state
// Set msg_older from msg_newer
msg_older.timestamp = msg_newer.timestamp;
msg_older.armed_time = msg_newer.armed_time;
msg_older.takeoff_time = msg_newer.takeoff_time;
@@ -73,6 +75,7 @@ public:
msg_older.nav_state_user_intention = msg_newer.nav_state_user_intention;
msg_older.nav_state = msg_newer.nav_state;
msg_older.executor_in_charge = msg_newer.executor_in_charge;
// nav_state_display dropped (not in V1)
msg_older.valid_nav_states_mask = msg_newer.valid_nav_states_mask;
msg_older.can_set_nav_states_mask = msg_newer.can_set_nav_states_mask;
msg_older.failure_detector_status = msg_newer.failure_detector_status;
@@ -99,6 +102,7 @@ public:
msg_older.open_drone_id_system_healthy = msg_newer.open_drone_id_system_healthy;
msg_older.parachute_system_present = msg_newer.parachute_system_present;
msg_older.parachute_system_healthy = msg_newer.parachute_system_healthy;
// traffic_avoidance_system_present is dropped (not in V1)
msg_older.rc_calibration_in_progress = msg_newer.rc_calibration_in_progress;
msg_older.calibration_enabled = msg_newer.calibration_enabled;
msg_older.pre_flight_checks_pass = msg_newer.pre_flight_checks_pass;

2
msg/versioned/VehicleStatus.msg
View File

@@ -127,6 +127,8 @@ bool open_drone_id_system_healthy
bool parachute_system_present
bool parachute_system_healthy
bool traffic_avoidance_system_present
bool rc_calibration_in_progress
bool calibration_enabled

4
src/lib/events/enums.json
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@@ -276,6 +276,10 @@
"1073741824": {
"name": "open_drone_id",
"description": "Open Drone ID system"
},
"2147483648": {
"name": "traffic_avoidance",
"description": "Traffic Avoidance (ADSB/FLARM)"
}
}
},

26
src/modules/commander/Commander.cpp
View File

@@ -2880,6 +2880,22 @@ void Commander::dataLinkCheck()
_vehicle_status.open_drone_id_system_present = true;
_vehicle_status.open_drone_id_system_healthy = healthy;
}
// Traffic avoidance system (ADSB or FLARM)
if (telemetry.heartbeat_type_adsb || telemetry.heartbeat_type_flarm) {
if (_traffic_avoidance_system_lost) { // recovered
_traffic_avoidance_system_lost = false;
if (_datalink_last_heartbeat_traffic_avoidance_system != 0) {
mavlink_log_info(&_mavlink_log_pub, "Traffic avoidance system regained\t");
events::send(events::ID("commander_traffic_avoidance_regained"), events::Log::Info,
"Traffic avoidance system regained");
}
}
_datalink_last_heartbeat_traffic_avoidance_system = telemetry.timestamp;
_vehicle_status.traffic_avoidance_system_present = true;
}
}
}
@@ -2931,6 +2947,16 @@ void Commander::dataLinkCheck()
_open_drone_id_system_lost = true;
_status_changed = true;
}
// Traffic avoidance system (ADSB/FLARM)
if ((hrt_elapsed_time(&_datalink_last_heartbeat_traffic_avoidance_system) > 3_s)
&& !_traffic_avoidance_system_lost) {
mavlink_log_critical(&_mavlink_log_pub, "Traffic avoidance system lost");
events::send(events::ID("commander_traffic_avoidance_lost"), events::Log::Critical, "Traffic avoidance system lost");
_vehicle_status.traffic_avoidance_system_present = false;
_traffic_avoidance_system_lost = true;
_status_changed = true;
}
}
void Commander::battery_status_check()

2
src/modules/commander/Commander.hpp
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@@ -243,6 +243,7 @@ private:
hrt_abstime _datalink_last_heartbeat_gcs{0};
hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
hrt_abstime _datalink_last_heartbeat_parachute_system{0};
hrt_abstime _datalink_last_heartbeat_traffic_avoidance_system{0};
hrt_abstime _last_print_mode_reject_time{0}; ///< To remember when last notification was sent
@@ -268,6 +269,7 @@ private:
bool _open_drone_id_system_lost{true};
bool _onboard_controller_lost{false};
bool _parachute_system_lost{true};
bool _traffic_avoidance_system_lost{true};
bool _last_overload{false};
bool _mode_switch_mapped{false};

1
src/modules/commander/HealthAndArmingChecks/CMakeLists.txt
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@@ -65,6 +65,7 @@ px4_add_library(health_and_arming_checks
checks/rcCalibrationCheck.cpp
checks/sdcardCheck.cpp
checks/systemCheck.cpp
checks/trafficAvoidanceCheck.cpp
checks/vtolCheck.cpp
checks/windCheck.cpp

3
src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
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@@ -72,6 +72,7 @@
#include "checks/vtolCheck.hpp"
#include "checks/offboardCheck.hpp"
#include "checks/openDroneIDCheck.hpp"
#include "checks/trafficAvoidanceCheck.hpp"
#include "checks/externalChecks.hpp"
class HealthAndArmingChecks : public ModuleParams
@@ -157,6 +158,7 @@ private:
RcAndDataLinkChecks _rc_and_data_link_checks;
VtolChecks _vtol_checks;
OffboardChecks _offboard_checks;
TrafficAvoidanceChecks _traffic_avoidance_checks;
#ifndef CONSTRAINED_FLASH
ExternalChecks _external_checks;
#endif
@@ -197,5 +199,6 @@ private:
&_flight_time_checks,
&_rc_and_data_link_checks,
&_vtol_checks,
&_traffic_avoidance_checks,
};
};

71
src/modules/commander/HealthAndArmingChecks/checks/trafficAvoidanceCheck.cpp Normal file
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@@ -0,0 +1,71 @@
/****************************************************************************
*
* Copyright (c) 2026 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "trafficAvoidanceCheck.hpp"
void TrafficAvoidanceChecks::checkAndReport(const Context &context, Report &reporter)
{
NavModes affected_modes{NavModes::None}; // COM_ARM_TRAFF 1 - warning only, arming allowed, affected_modes stays None
switch (_param_com_arm_traff.get()) {
case 0:
return; // Check disabled
case 2:
affected_modes = NavModes::All; // Disallow arming for all modes
break;
case 3:
affected_modes = NavModes::Mission; // Disallow arming for mission
break;
}
if (!context.status().traffic_avoidance_system_present) {
/* EVENT
* @description
* Traffic avoidance system (ADSB/FLARM) failed to report. Make sure it is setup and connected properly.
*
* <profile name="dev">
* This check can be configured via <param>COM_ARM_TRAFF</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(affected_modes, health_component_t::traffic_avoidance,
events::ID("check_traffic_avoidance_missing"),
events::Log::Error, "Traffic avoidance system missing");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Traffic avoidance system missing");
}
}
}

50
src/modules/commander/HealthAndArmingChecks/checks/trafficAvoidanceCheck.hpp Normal file
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@@ -0,0 +1,50 @@
/****************************************************************************
*
* Copyright (c) 2026 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "../Common.hpp"
class TrafficAvoidanceChecks : public HealthAndArmingCheckBase
{
public:
TrafficAvoidanceChecks() = default;
~TrafficAvoidanceChecks() = default;
void checkAndReport(const Context &context, Report &reporter) override;
private:
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::COM_ARM_TRAFF>) _param_com_arm_traff
)
};

15
src/modules/commander/commander_params.c
View File

@@ -836,6 +836,21 @@ PARAM_DEFINE_INT32(COM_ARM_HFLT_CHK, 1);
*/
PARAM_DEFINE_INT32(COM_ARM_ODID, 0);
/**
* Enable Traffic Avoidance system detection check
*
* This check detects if a traffic avoidance system (ADSB/FLARM transponder)
* is missing. Depending on the value of the parameter, the check can be
* disabled, warn only, or deny arming.
*
* @group Commander
* @value 0 Disabled
* @value 1 Warning only
* @value 2 Enforce for all modes
* @value 3 Enforce for mission modes only
*/
PARAM_DEFINE_INT32(COM_ARM_TRAFF, 0);
/**
* Enforced delay between arming and further navigation
*

5
src/modules/mavlink/mavlink_receiver.cpp
View File

@@ -2177,6 +2177,10 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
_heartbeat_type_adsb = now;
break;
case MAV_TYPE_FLARM:
_heartbeat_type_flarm = now;
break;
case MAV_TYPE_CAMERA:
_heartbeat_type_camera = now;
camera_status.timestamp = now;
@@ -2925,6 +2929,7 @@ void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force)
tstatus.heartbeat_type_onboard_controller = (t <= TIMEOUT + _heartbeat_type_onboard_controller);
tstatus.heartbeat_type_gimbal = (t <= TIMEOUT + _heartbeat_type_gimbal);
tstatus.heartbeat_type_adsb = (t <= TIMEOUT + _heartbeat_type_adsb);
tstatus.heartbeat_type_flarm = (t <= TIMEOUT + _heartbeat_type_flarm);
tstatus.heartbeat_type_camera = (t <= TIMEOUT + _heartbeat_type_camera);
tstatus.heartbeat_type_parachute = (t <= TIMEOUT + _heartbeat_type_parachute);
tstatus.heartbeat_type_open_drone_id = (t <= TIMEOUT + _heartbeat_type_open_drone_id);

1
src/modules/mavlink/mavlink_receiver.h
View File

@@ -391,6 +391,7 @@ private:
hrt_abstime _heartbeat_type_onboard_controller{0};
hrt_abstime _heartbeat_type_gimbal{0};
hrt_abstime _heartbeat_type_adsb{0};
hrt_abstime _heartbeat_type_flarm{0};
hrt_abstime _heartbeat_type_camera{0};
hrt_abstime _heartbeat_type_parachute{0};
hrt_abstime _heartbeat_type_open_drone_id{0};