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https://github.com/PX4/PX4-Autopilot.git
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57df7e35b2
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>
51 lines
1.9 KiB
Plaintext
51 lines
1.9 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 icao_address # ICAO address
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float64 lat # Latitude, expressed as degrees
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float64 lon # Longitude, expressed as degrees
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uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
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float32 altitude # Altitude(ASL) in meters
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float32 heading # Course over ground in radians, -pi to +pi, 0 is north
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float32 hor_velocity # The horizontal velocity in m/s
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float32 ver_velocity # The vertical velocity in m/s, positive is up
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char[9] callsign # The callsign, 8+null
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uint8 emitter_type # Type from ADSB_EMITTER_TYPE enum
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uint8 tslc # Time since last communication in seconds
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uint16 flags # Flags to indicate various statuses including valid data fields
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uint16 squawk # Squawk code
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uint8[18] uas_id # Unique UAS ID
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# ADSB flags
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uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
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uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
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uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
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uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
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uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
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uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
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uint16 PX4_ADSB_FLAGS_RETRANSLATE = 256
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#ADSB Emitter Data:
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#from mavlink/v2.0/common/common.h
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uint16 ADSB_EMITTER_TYPE_NO_INFO=0
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uint16 ADSB_EMITTER_TYPE_LIGHT=1
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uint16 ADSB_EMITTER_TYPE_SMALL=2
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uint16 ADSB_EMITTER_TYPE_LARGE=3
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uint16 ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE=4
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uint16 ADSB_EMITTER_TYPE_HEAVY=5
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uint16 ADSB_EMITTER_TYPE_HIGHLY_MANUV=6
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uint16 ADSB_EMITTER_TYPE_ROTOCRAFT=7
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uint16 ADSB_EMITTER_TYPE_UNASSIGNED=8
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uint16 ADSB_EMITTER_TYPE_GLIDER=9
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uint16 ADSB_EMITTER_TYPE_LIGHTER_AIR=10
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uint16 ADSB_EMITTER_TYPE_PARACHUTE=11
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uint16 ADSB_EMITTER_TYPE_ULTRA_LIGHT=12
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uint16 ADSB_EMITTER_TYPE_UNASSIGNED2=13
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uint16 ADSB_EMITTER_TYPE_UAV=14
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uint16 ADSB_EMITTER_TYPE_SPACE=15
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uint16 ADSB_EMITTER_TYPE_UNASSGINED3=16
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uint16 ADSB_EMITTER_TYPE_EMERGENCY_SURFACE=17
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uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
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uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
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uint16 ADSB_EMITTER_TYPE_ENUM_END=20
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uint8 ORB_QUEUE_LENGTH = 16
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