ADSB_VEHICLE.hpp
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef ADSB_VEHICLE_HPP
#define ADSB_VEHICLE_HPP
#include <uORB/topics/transponder_report.h>
class MavlinkStreamADSBVehicle : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamADSBVehicle(mavlink); }
static constexpr const char *get_name_static() { return "ADSB_VEHICLE"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ADSB_VEHICLE; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
bool const_rate() override { return true; }
unsigned get_size() override
{
return _transponder_report_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _transponder_report_sub{ORB_ID(transponder_report)};
bool send() override
{
bool sent = false;
transponder_report_s pos;
while ((_mavlink->get_free_tx_buf() >= get_size()) && _transponder_report_sub.update(&pos)) {
if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) {
continue;
}
mavlink_adsb_vehicle_t msg{};
msg.ICAO_address = pos.icao_address;
msg.lat = pos.lat * 1e7;
msg.lon = pos.lon * 1e7;
msg.altitude_type = pos.altitude_type;
msg.altitude = pos.altitude * 1e3f;
msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f;
msg.hor_velocity = pos.hor_velocity * 100.0f;
msg.ver_velocity = pos.ver_velocity * 100.0f;
memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
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; }
mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
sent = true;
}
return sent;
}
};
#endif // ADSB_VEHICLE_HPP