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[traffic] register ACINFO message for position broadcasting

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Gautier Hattenberger
2026-04-01 14:35:23 +02:00
parent 2cb12e1cf4
commit 345ae58312
1 changed files with 27 additions and 0 deletions
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sw/airborne/modules/multi/traffic_info.c
+27
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@@ -47,6 +47,29 @@ struct acInfo ti_acs[NB_ACS];
/* Geoid height (msl) over ellipsoid [mm] */
int32_t geoid_height;
/* Send ACINFO_LLA message from the datalink class */
static void send_acinfo_lla(struct transport_tx *trans, struct link_device *dev)
{
int16_t course = (int16_t)DeciDegOfRad(stateGetHorizontalSpeedDir_f());
struct LlaCoor_i* lla = stateGetPositionLla_i();
uint32_t itow = gps.tow;
uint16_t speed = (uint16_t)(stateGetHorizontalSpeedNorm_f()*10.f);
int16_t climb = (int16_t)(stateGetSpeedEnu_f()->z*10.f);
uint8_t ac_id = AC_ID;
// broadcast GPS message
struct pprzlink_msg msg;
msg.trans = trans;
msg.dev = dev;
msg.sender_id = AC_ID;
msg.receiver_id = PPRZLINK_MSG_BROADCAST;
msg.component_id = 0;
pprzlink_msg_send_ACINFO_LLA(&msg,
&course,
&lla->lat, &lla->lon, &lla->alt,
&itow, &speed, &climb, &ac_id);
}
void traffic_info_init(void)
{
memset(ti_acs_id, 0, NB_ACS_ID);
@@ -57,6 +80,10 @@ void traffic_info_init(void)
ti_acs_idx = 2;
geoid_height = NAV_MSL0;
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACINFO_LLA, send_acinfo_lla);
#endif
}
/**