PX4-Autopilot/docs/en/msg_docs/TransponderReport.md

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TransponderReport (UORB message)

TOPICS: transponder_report

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
icao_address	uint32			ICAO address
lat	float64			Latitude, expressed as degrees
lon	float64			Longitude, expressed as degrees
altitude_type	uint8			Type from ADSB_ALTITUDE_TYPE enum
altitude	float32			Altitude(ASL) in meters
heading	float32			Course over ground in radians, 0 to 2pi, 0 is north
hor_velocity	float32			The horizontal velocity in m/s
ver_velocity	float32			The vertical velocity in m/s, positive is up
callsign	char[9]			The callsign, 8+null
emitter_type	uint8			Type from ADSB_EMITTER_TYPE enum
tslc	uint8			Time since last communication in seconds
flags	uint16			Flags to indicate various statuses including valid data fields
squawk	uint16			Squawk code
uas_id	uint8[18]			Unique UAS ID

Constants

Name	Type	Value	Description
PX4_ADSB_FLAGS_VALID_COORDS	uint16	1
PX4_ADSB_FLAGS_VALID_ALTITUDE	uint16	2
PX4_ADSB_FLAGS_VALID_HEADING	uint16	4
PX4_ADSB_FLAGS_VALID_VELOCITY	uint16	8
PX4_ADSB_FLAGS_VALID_CALLSIGN	uint16	16
PX4_ADSB_FLAGS_VALID_SQUAWK	uint16	32
PX4_ADSB_FLAGS_RETRANSLATE	uint16	256
ADSB_EMITTER_TYPE_NO_INFO	uint16	0
ADSB_EMITTER_TYPE_LIGHT	uint16	1
ADSB_EMITTER_TYPE_SMALL	uint16	2
ADSB_EMITTER_TYPE_LARGE	uint16	3
ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE	uint16	4
ADSB_EMITTER_TYPE_HEAVY	uint16	5
ADSB_EMITTER_TYPE_HIGHLY_MANUV	uint16	6
ADSB_EMITTER_TYPE_ROTOCRAFT	uint16	7
ADSB_EMITTER_TYPE_UNASSIGNED	uint16	8
ADSB_EMITTER_TYPE_GLIDER	uint16	9
ADSB_EMITTER_TYPE_LIGHTER_AIR	uint16	10
ADSB_EMITTER_TYPE_PARACHUTE	uint16	11
ADSB_EMITTER_TYPE_ULTRA_LIGHT	uint16	12
ADSB_EMITTER_TYPE_UNASSIGNED2	uint16	13
ADSB_EMITTER_TYPE_UAV	uint16	14
ADSB_EMITTER_TYPE_SPACE	uint16	15
ADSB_EMITTER_TYPE_UNASSGINED3	uint16	16
ADSB_EMITTER_TYPE_EMERGENCY_SURFACE	uint16	17
ADSB_EMITTER_TYPE_SERVICE_SURFACE	uint16	18
ADSB_EMITTER_TYPE_POINT_OBSTACLE	uint16	19
ADSB_EMITTER_TYPE_ENUM_END	uint16	20
ORB_QUEUE_LENGTH	uint8	16

Source Message

Source file (GitHub)

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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

# 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 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

uint8 ORB_QUEUE_LENGTH = 16

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