Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-09-24 14:37:31 +08:00
Code Issues Actions 36 Packages Projects Releases Wiki Activity

fix(TransponderReport): revise message structure and make dependencies explicit

Browse Source
This commit is contained in:
Matthias Grob
2026-07-21 06:15:58 +02:00
parent 0e01c3452e
commit de3a1121f6
7 changed files with 54 additions and 94 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/TransponderReport.msg
+33 -30
View File
@@ -1,36 +1,21 @@
uint64 timestamp # time since system start (microseconds)
uint32 icao_address # ICAO address
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
float32 heading # Course over ground in radians, 0 to 2pi, 0 is north
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
uint8[18] uas_id # Unique UAS ID
# Transponder report
#
# ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end.
# Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information.
# ADSB flags, bit values match MAVLink's ADSB_FLAGS enum (common.xml)
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_SIMULATED = 64
uint16 PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID = 128
uint16 PX4_ADSB_FLAGS_BARO_VALID = 256
uint16 PX4_ADSB_FLAGS_SOURCE_UAT = 32768
uint64 timestamp # [us] Time since system start
# PX4-internal flag, not part of the MAVLink ADSB_FLAGS bitmask: uses a bit MAVLink leaves unused
uint16 PX4_ADSB_FLAGS_RETRANSLATE = 512
uint32 icao_address # [-] ICAO address
float64 lat # [deg] Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
float64 lon # [deg] Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
float32 altitude # [m] Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE
float32 heading # [rad] Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING
float32 hor_velocity # [m/s] Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
float32 ver_velocity # [m/s] Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
char[9] callsign # The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN
#ADSB Emitter Data:
#from mavlink/v2.0/common/common.h
uint8 emitter_type # [@enum ADSB_EMITTER_TYPE] Type matching MAVLink's ADSB_EMITTER_TYPE enum
uint16 ADSB_EMITTER_TYPE_NO_INFO=0
uint16 ADSB_EMITTER_TYPE_LIGHT=1
uint16 ADSB_EMITTER_TYPE_SMALL=2
@@ -53,4 +38,22 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
uint16 ADSB_EMITTER_TYPE_ENUM_END=20
uint8 tslc # [s] Time since last communication
uint16 flags # [@enum PX4_ADSB_FLAGS] Flags matching MAVLink's ADSB_FLAGS bitmask
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_SIMULATED = 64
uint16 PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID = 128
uint16 PX4_ADSB_FLAGS_BARO_VALID = 256
uint16 PX4_ADSB_FLAGS_SOURCE_UAT = 32768
uint16 squawk # [-] Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK
uint8[18] uas_id # [-] Unique UAS ID, not part of ADSB_VEHICLE MAVLink message
uint8 ORB_QUEUE_LENGTH = 16
src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp
-2
View File
@@ -588,7 +588,6 @@ void SagetechMXS::handle_svr(sg_svr_t svr)
t.timestamp = hrt_absolute_time();
t.flags &= ~transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK;
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE;
//Set data from svr message
if (svr.validity.position) {
@@ -649,7 +648,6 @@ void SagetechMXS::handle_msr(sg_msr_t msr)
}
t.timestamp = hrt_absolute_time();
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE;
if (strlen(msr.callsign)) {
snprintf(t.callsign, sizeof(t.callsign), "%-8s", msr.callsign);
src/modules/mavlink/mavlink_receiver.cpp
+11 -21
View File
@@ -2872,27 +2872,17 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
t.tslc = adsb.tslc;
t.squawk = adsb.squawk;
t.flags = transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE; //Unset in receiver already broadcast its messages
if (adsb.flags & ADSB_FLAGS_VALID_COORDS) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; }
if (adsb.flags & ADSB_FLAGS_VALID_ALTITUDE) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; }
if (adsb.flags & ADSB_FLAGS_VALID_HEADING) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; }
if (adsb.flags & ADSB_FLAGS_VALID_VELOCITY) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; }
if (adsb.flags & ADSB_FLAGS_VALID_CALLSIGN) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; }
if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }
if (adsb.flags & ADSB_FLAGS_SIMULATED) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_SIMULATED; }
if (adsb.flags & ADSB_FLAGS_VERTICAL_VELOCITY_VALID) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID; }
if (adsb.flags & ADSB_FLAGS_BARO_VALID) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_BARO_VALID; }
if (adsb.flags & ADSB_FLAGS_SOURCE_UAT) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_SOURCE_UAT; }
t.flags = adsb.flags; // The PX4_ADSB_FLAGS_* bit values are defined to be identical to MAVLink's ADSB_FLAGS bitmask (see TransponderReport.msg),
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS == ADSB_FLAGS_VALID_COORDS);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE == ADSB_FLAGS_VALID_ALTITUDE);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING == ADSB_FLAGS_VALID_HEADING);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY == ADSB_FLAGS_VALID_VELOCITY);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN == ADSB_FLAGS_VALID_CALLSIGN);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK == ADSB_FLAGS_VALID_SQUAWK);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_SIMULATED == ADSB_FLAGS_SIMULATED);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID == ADSB_FLAGS_VERTICAL_VELOCITY_VALID);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_BARO_VALID == ADSB_FLAGS_BARO_VALID);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_SOURCE_UAT == ADSB_FLAGS_SOURCE_UAT);
//PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc);
src/modules/mavlink/streams/ADSB_VEHICLE.hpp
+2 -23
View File
@@ -67,7 +67,7 @@ private:
while ((_mavlink->get_free_tx_buf() >= get_size()) && _transponder_report_sub.update(&pos)) {
if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) {
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_SIMULATED) {
continue;
}
@@ -84,28 +84,7 @@ private:
msg.emitter_type = pos.emitter_type;
msg.tslc = pos.tslc;
msg.squawk = pos.squawk;
msg.flags = 0;
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_SIMULATED) { msg.flags |= ADSB_FLAGS_SIMULATED; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID) { msg.flags |= ADSB_FLAGS_VERTICAL_VELOCITY_VALID; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_BARO_VALID) { msg.flags |= ADSB_FLAGS_BARO_VALID; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_SOURCE_UAT) { msg.flags |= ADSB_FLAGS_SOURCE_UAT; }
msg.flags = pos.flags;
mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
sent = true;
src/modules/navigator/DetectAndAvoid/detect_and_avoid.cpp
+2 -3
View File
@@ -624,14 +624,13 @@ void DetectAndAvoid::debug_print_transponder_report(const transponder_report_s &
uas_id_char);
// Log which flags are enabled in one line using printf
PX4_DEBUG("ADSB_IN: Flags missing: %s%s%s%s%s%s%s",
PX4_DEBUG("ADSB_IN: Flags missing: %s%s%s%s%s%s",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) ? "" : "coord ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) ? "" : "alt ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) ? "" : "hdg ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) ? "" : "vel ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) ? "" : "callsign ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) ? "" : "squawk ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE) ? "" : "Retranslate ");
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) ? "" : "squawk ");
PX4_DEBUG("ADSB_IN: lat %.2f, lon %.2f, alt %.2f, hdg %.d, vel hor %.1f, vel vert %.1f \n",
(double)transponder_report.lat,
src/modules/navigator/DetectAndAvoid/detect_and_avoid.h
+2 -1
View File
@@ -86,7 +86,8 @@ public:
transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY |
transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE |
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN;
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN |
transponder_report_s::PX4_ADSB_FLAGS_SIMULATED;
// Fake traffic scripts used for manual DAA validation from the navigator shell.
enum class FakeTraffMode : uint8_t {
src/modules/navigator/DetectAndAvoid/detect_and_avoid_fake_traffic.cpp
+4 -14
View File
@@ -52,16 +52,8 @@ namespace
// stores the selected mode and an ownship position snapshot; `process_fake_traffic()`
// later publishes the scripted reports that are due from the navigator update loop.
static constexpr uint16_t kDefaultFakeTrafficFlags = DetectAndAvoid::kFakeTrafficDefaultFlags;
static constexpr uint16_t kCallsignNotValidFlags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS |
transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY |
transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
static constexpr uint16_t kVelocityNotValidFlags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS |
transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE |
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN;
static constexpr uint16_t kCallsignNotValidFlags = kDefaultFakeTrafficFlags & ~transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN;
static constexpr uint16_t kVelocityNotValidFlags = kDefaultFakeTrafficFlags & ~transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
// Publish one final far-away sample to clear the same traffic entry cleanly.
static constexpr float kFakeTrafficResolveDistance = 5000.f;
@@ -184,8 +176,7 @@ static constexpr fake_traffic_script_step_s kFlagsScript[] {
};
template <size_t N>
bool get_script_step(const fake_traffic_script_step_s(&script)[N], const uint8_t step_idx,
fake_traffic_script_step_s &step)
bool get_script_step(const fake_traffic_script_step_s(&script)[N], const uint8_t step_idx, fake_traffic_script_step_s &step)
{
if (step_idx >= N) {
return false;
@@ -282,8 +273,7 @@ const char *fake_traffic_mode_to_string(const DetectAndAvoid::FakeTraffMode mode
}
}
bool get_fake_traffic_step(const DetectAndAvoid::FakeTraffMode mode, const uint8_t step_idx,
fake_traffic_script_step_s &step)
bool get_fake_traffic_step(const DetectAndAvoid::FakeTraffMode mode, const uint8_t step_idx, fake_traffic_script_step_s &step)
{
switch (mode) {
case DetectAndAvoid::FakeTraffMode::kUniqueIds: