Copter: adsb handling simply logs error to dataflash

ArduCopter/adsb.cpp

@@ -42,6 +42,21 @@ void Copter::adsb_update(void)
  */
 void Copter::adsb_handle_vehicle_threats(void)
 {
+    // handle clearing of threat
+    if (adsb.get_is_evading_threat() && !adsb.get_another_vehicle_within_radius()) {
+        adsb.set_is_evading_threat(false);
+        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_RESOLVED);
+        gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat cleared");
+        return;
+    }
+
+    // handle new threat
+    if (!adsb.get_is_evading_threat() && adsb.get_another_vehicle_within_radius()) {
+        adsb.set_is_evading_threat(true);
+        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_OCCURRED);
+        gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat!");
+        return;
+    }
 }
 
 #endif // #ADSB_ENABLED

ArduCopter/defines.h

@@ -352,6 +352,7 @@ enum FlipState {
 #define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV    17
 #define ERROR_SUBSYSTEM_BARO                18
 #define ERROR_SUBSYSTEM_CPU                 19
+#define ERROR_SUBSYSTEM_FAILSAFE_ADSB       20
 // general error codes
 #define ERROR_CODE_ERROR_RESOLVED           0
 #define ERROR_CODE_FAILED_TO_INITIALISE     1