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Add Traffic Avoidance System (ADSB/FLARM) Arming Check (#26390)
* 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
committed by
Matthias Grob
Matthias Grob
parent
adc9a6d35d
commit
05de941399
@@ -43,6 +43,7 @@ bool heartbeat_type_gcs # MAV_TYPE_GCS
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bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
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bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
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bool heartbeat_type_adsb # MAV_TYPE_ADSB
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bool heartbeat_type_flarm # MAV_TYPE_FLARM
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bool heartbeat_type_camera # MAV_TYPE_CAMERA
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bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE
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bool heartbeat_type_open_drone_id # MAV_TYPE_ODID
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@@ -2,14 +2,14 @@
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp # [us] Time since system start
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uint64 armed_time # Arming timestamp (microseconds)
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uint64 takeoff_time # Takeoff timestamp (microseconds)
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uint64 armed_time # [us] Arming timestamp
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uint64 takeoff_time # [us] Takeoff timestamp
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uint8 arming_state
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uint8 ARMING_STATE_DISARMED = 1
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uint8 ARMING_STATE_ARMED = 2
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uint8 ARMING_STATE_ARMED = 2
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uint8 latest_arming_reason
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uint8 latest_disarming_reason
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@@ -24,34 +24,34 @@ uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
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uint8 ARM_DISARM_REASON_RC_BUTTON = 13
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uint8 ARM_DISARM_REASON_FAILSAFE = 14
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uint64 nav_state_timestamp # time when current nav_state activated
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uint64 nav_state_timestamp # Time when current nav_state activated
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uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
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uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
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uint8 nav_state # Currently active mode
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uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
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uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
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uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
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uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
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uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
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uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
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uint8 nav_state # [@enum NAVIGATION_STATE] Currently active mode
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uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
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uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
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uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
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uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
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uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
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uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
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uint8 NAVIGATION_STATE_POSITION_SLOW = 6
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uint8 NAVIGATION_STATE_FREE5 = 7
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uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
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uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
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uint8 NAVIGATION_STATE_FREE3 = 9
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uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
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uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
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uint8 NAVIGATION_STATE_FREE2 = 11
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uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
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uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
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uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
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uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
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uint8 NAVIGATION_STATE_OFFBOARD = 14
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uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
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uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
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uint8 NAVIGATION_STATE_FREE1 = 16
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uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
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uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
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uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
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uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
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uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
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uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
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uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
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uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
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uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
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uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
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uint8 NAVIGATION_STATE_EXTERNAL1 = 23
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uint8 NAVIGATION_STATE_EXTERNAL2 = 24
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uint8 NAVIGATION_STATE_EXTERNAL3 = 25
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@@ -62,29 +62,29 @@ uint8 NAVIGATION_STATE_EXTERNAL7 = 29
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uint8 NAVIGATION_STATE_EXTERNAL8 = 30
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uint8 NAVIGATION_STATE_MAX = 31
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uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
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uint8 executor_in_charge # [-] Current mode executor in charge (0=Autopilot)
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uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
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uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
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uint32 valid_nav_states_mask # [-] Bitmask for all valid nav_state values
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uint32 can_set_nav_states_mask # [-] Bitmask for all modes that a user can select
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# Bitmask of detected failures
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uint16 failure_detector_status
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uint16 failure_detector_status # [@enum FAILURE]
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uint16 FAILURE_NONE = 0
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uint16 FAILURE_ROLL = 1 # (1 << 0)
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uint16 FAILURE_PITCH = 2 # (1 << 1)
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uint16 FAILURE_ALT = 4 # (1 << 2)
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uint16 FAILURE_EXT = 8 # (1 << 3)
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uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
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uint16 FAILURE_BATTERY = 32 # (1 << 5)
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uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
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uint16 FAILURE_MOTOR = 128 # (1 << 7)
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uint16 FAILURE_ROLL = 1 # (1 << 0)
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uint16 FAILURE_PITCH = 2 # (1 << 1)
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uint16 FAILURE_ALT = 4 # (1 << 2)
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uint16 FAILURE_EXT = 8 # (1 << 3)
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uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
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uint16 FAILURE_BATTERY = 32 # (1 << 5)
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uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
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uint16 FAILURE_MOTOR = 128 # (1 << 7)
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uint8 hil_state
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uint8 hil_state # [enum HIL_STATE]
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uint8 HIL_STATE_OFF = 0
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uint8 HIL_STATE_ON = 1
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# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
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uint8 vehicle_type
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uint8 vehicle_type # [@enum VEHICLE_TYPE]
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uint8 VEHICLE_TYPE_UNSPECIFIED = 0
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uint8 VEHICLE_TYPE_ROTARY_WING = 1
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uint8 VEHICLE_TYPE_FIXED_WING = 2
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@@ -96,29 +96,29 @@ uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would tr
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bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
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bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
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uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
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uint8 failsafe_defer_state # [@enum FAILSAFE_DEFER_STATE]
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# Link loss
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bool gcs_connection_lost # datalink to GCS lost
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uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
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bool gcs_connection_lost # datalink to GCS lost
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uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
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bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
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# VTOL flags
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bool is_vtol # True if the system is VTOL capable
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bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
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bool in_transition_mode # True if VTOL is doing a transition
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bool is_vtol # True if the system is VTOL capable
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bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
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bool in_transition_mode # True if VTOL is doing a transition
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bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
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# MAVLink identification
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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint8 system_id # system id, contains MAVLink's system ID field
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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint8 system_id # system id, contains MAVLink's system ID field
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uint8 component_id # subsystem / component id, contains MAVLink's component ID field
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bool safety_button_available # Set to true if a safety button is connected
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bool safety_off # Set to true if safety is off
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bool power_input_valid # set if input power is valid
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bool usb_connected # set to true (never cleared) once telemetry received from usb link
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bool power_input_valid # Set if input power is valid
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bool usb_connected # Set to true (never cleared) once telemetry received from usb link
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bool open_drone_id_system_present
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bool open_drone_id_system_healthy
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@@ -129,4 +129,4 @@ bool parachute_system_healthy
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bool rc_calibration_in_progress
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bool calibration_enabled
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bool pre_flight_checks_pass # true if all checks necessary to arm pass
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bool pre_flight_checks_pass # true if all checks necessary to arm pass
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@@ -1,5 +1,5 @@
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/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* Copyright (c) 2026 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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@@ -19,6 +19,7 @@ public:
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static constexpr const char* kTopic = "fmu/out/vehicle_status";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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// Set msg_newer from msg_older
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.armed_time = msg_older.armed_time;
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msg_newer.takeoff_time = msg_older.takeoff_time;
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@@ -56,13 +57,14 @@ public:
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msg_newer.open_drone_id_system_healthy = msg_older.open_drone_id_system_healthy;
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msg_newer.parachute_system_present = msg_older.parachute_system_present;
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msg_newer.parachute_system_healthy = msg_older.parachute_system_healthy;
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msg_newer.traffic_avoidance_system_present = false; // New field, default to false
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msg_newer.rc_calibration_in_progress = msg_older.rc_calibration_in_progress;
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msg_newer.calibration_enabled = msg_older.calibration_enabled;
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msg_newer.pre_flight_checks_pass = msg_older.pre_flight_checks_pass;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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// copy everything except the new executor_nav_state
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// Set msg_older from msg_newer
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.armed_time = msg_newer.armed_time;
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msg_older.takeoff_time = msg_newer.takeoff_time;
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@@ -73,6 +75,7 @@ public:
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msg_older.nav_state_user_intention = msg_newer.nav_state_user_intention;
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msg_older.nav_state = msg_newer.nav_state;
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msg_older.executor_in_charge = msg_newer.executor_in_charge;
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// nav_state_display dropped (not in V1)
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msg_older.valid_nav_states_mask = msg_newer.valid_nav_states_mask;
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msg_older.can_set_nav_states_mask = msg_newer.can_set_nav_states_mask;
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msg_older.failure_detector_status = msg_newer.failure_detector_status;
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@@ -99,6 +102,7 @@ public:
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msg_older.open_drone_id_system_healthy = msg_newer.open_drone_id_system_healthy;
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msg_older.parachute_system_present = msg_newer.parachute_system_present;
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msg_older.parachute_system_healthy = msg_newer.parachute_system_healthy;
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// traffic_avoidance_system_present is dropped (not in V1)
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msg_older.rc_calibration_in_progress = msg_newer.rc_calibration_in_progress;
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msg_older.calibration_enabled = msg_newer.calibration_enabled;
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msg_older.pre_flight_checks_pass = msg_newer.pre_flight_checks_pass;
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@@ -127,6 +127,8 @@ bool open_drone_id_system_healthy
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bool parachute_system_present
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bool parachute_system_healthy
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bool traffic_avoidance_system_present
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bool rc_calibration_in_progress
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bool calibration_enabled
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