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AP_ADSB: I implement new mavlink packets ADSB_OUT_STATUS and ADSB_OUT_CONTROL

gps-1.3.1
nicholas-inocencio 3 years ago committed by Tom Pittenger
parent
9ca681c76d
commit
f4ff8859e4
5 changed files with 287 additions and 61 deletions
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  1. 84
      libraries/AP_ADSB/AP_ADSB.cpp
  2. 63
      libraries/AP_ADSB/AP_ADSB.h
  3. 150
      libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
  4. 2
      libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h
  5. 49
      libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h

84
libraries/AP_ADSB/AP_ADSB.cpp
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@ -632,6 +632,26 @@ void AP_ADSB::handle_out_cfg(const mavlink_uavionix_adsb_out_cfg_t &packet) @@ -632,6 +632,26 @@ void AP_ADSB::handle_out_cfg(const mavlink_uavionix_adsb_out_cfg_t &packet)
out_state.last_config_ms = 0;
}
/*
* handle incoming packet UAVIONIX_ADSB_OUT_CONTROL
* allows a GCS to set the contents of the control message sent by ardupilot to the transponder
*/
void AP_ADSB::handle_out_control(const mavlink_uavionix_adsb_out_control_t &packet)
{
out_state.ctrl.baroCrossChecked = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_EXTERNAL_BARO_CROSSCHECKED;
out_state.ctrl.airGroundState = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_ON_GROUND;
out_state.ctrl.identActive = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_IDENT_BUTTON_ACTIVE;
out_state.ctrl.modeAEnabled = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_A_ENABLED;
out_state.ctrl.modeCEnabled = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_C_ENABLED;
out_state.ctrl.modeSEnabled = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_S_ENABLED;
out_state.ctrl.es1090TxEnabled = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_1090ES_TX_ENABLED;
out_state.ctrl.externalBaroAltitude_mm = packet.baroAltMSL;
out_state.ctrl.squawkCode = packet.squawk;
out_state.ctrl.emergencyState = packet.emergencyStatus;
memcpy(out_state.ctrl.callsign, packet.flight_id, sizeof(out_state.ctrl.callsign));
out_state.ctrl.x_bit = packet.x_bit;
}
/*
* this is a message from the transceiver reporting it's health. Using this packet
* we determine which channel is on so we don't have to send out_state to all channels
@ -647,6 +667,19 @@ void AP_ADSB::handle_transceiver_report(const mavlink_channel_t chan, const mavl @@ -647,6 +667,19 @@ void AP_ADSB::handle_transceiver_report(const mavlink_channel_t chan, const mavl
out_state.status = (UAVIONIX_ADSB_RF_HEALTH)packet.rfHealth;
}
/*
* send a periodic report of the ADSB out status
*/
void AP_ADSB::send_adsb_out_status(const mavlink_channel_t chan) const
{
for (uint8_t i=0; i < ADSB_MAX_INSTANCES; i++) {
if (_type[i] == (int8_t)(AP_ADSB::Type::uAvionix_UCP)) {
mavlink_msg_uavionix_adsb_out_status_send_struct(chan, &out_state.tx_status);
return;
}
}
}
/*
@brief Generates pseudorandom ICAO from gps time, lat, and lon.
Reference: DO282B, 2.2.4.5.1.3.2
@ -727,31 +760,38 @@ bool AP_ADSB::next_sample(adsb_vehicle_t &vehicle) @@ -727,31 +760,38 @@ bool AP_ADSB::next_sample(adsb_vehicle_t &vehicle)
void AP_ADSB::handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_ADSB_VEHICLE: {
adsb_vehicle_t vehicle {};
mavlink_msg_adsb_vehicle_decode(&msg, &vehicle.info);
vehicle.last_update_ms = AP_HAL::millis() - uint32_t(vehicle.info.tslc * 1000U);
handle_adsb_vehicle(vehicle);
break;
}
case MAVLINK_MSG_ID_ADSB_VEHICLE: {
adsb_vehicle_t vehicle {};
mavlink_msg_adsb_vehicle_decode(&msg, &vehicle.info);
vehicle.last_update_ms = AP_HAL::millis() - uint32_t(vehicle.info.tslc * 1000U);
handle_adsb_vehicle(vehicle);
break;
}
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT: {
mavlink_uavionix_adsb_transceiver_health_report_t packet {};
mavlink_msg_uavionix_adsb_transceiver_health_report_decode(&msg, &packet);
handle_transceiver_report(chan, packet);
break;
}
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT: {
mavlink_uavionix_adsb_transceiver_health_report_t packet {};
mavlink_msg_uavionix_adsb_transceiver_health_report_decode(&msg, &packet);
handle_transceiver_report(chan, packet);
break;
}
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG: {
mavlink_uavionix_adsb_out_cfg_t packet {};
mavlink_msg_uavionix_adsb_out_cfg_decode(&msg, &packet);
handle_out_cfg(packet);
break;
}
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG: {
mavlink_uavionix_adsb_out_cfg_t packet {};
mavlink_msg_uavionix_adsb_out_cfg_decode(&msg, &packet);
handle_out_cfg(packet);
break;
}
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
// unhandled, this is an outbound packet only
break;
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
// unhandled, this is an outbound packet only
break;
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CONTROL: {
mavlink_uavionix_adsb_out_control_t packet {};
mavlink_msg_uavionix_adsb_out_control_decode(&msg, &packet);
handle_out_control(packet);
break;
}
}
}

63
libraries/AP_ADSB/AP_ADSB.h
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@ -140,6 +140,8 @@ public: @@ -140,6 +140,8 @@ public:
// mavlink message handler
void handle_message(const mavlink_channel_t chan, const mavlink_message_t &msg);
void send_adsb_out_status(const mavlink_channel_t chan) const;
// when true, a vehicle with that ICAO was found in database and the vehicle is populated.
bool get_vehicle_by_ICAO(const uint32_t icao, adsb_vehicle_t &vehicle) const;
@ -150,23 +152,46 @@ public: @@ -150,23 +152,46 @@ public:
// confirm a value is a valid callsign
static bool is_valid_callsign(uint16_t octal) WARN_IF_UNUSED;
// Mode-S IDENT is active. While true, we are currently a large "HEY LOOK AT ME" symbol on the Air Traffic Controllers' radar screen.
bool ident_is_active() const {
return out_state.ident_is_active;
}
// Trigger a Mode 3/A transponder IDENT. This should only be done when requested to do so by an Air Traffic Controller.
// See wikipedia for IDENT explaination https://en.wikipedia.org/wiki/Transponder_(aeronautics)
bool ident_start() {
if (ident_is_active() || !healthy() || ((out_state.cfg.rfSelect & UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED) == 0)) {
if (!healthy() || ((out_state.cfg.rfSelect & UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED) == 0)) {
return false;
}
out_state.ident_pending = true;
out_state.ctrl.identActive = true;
return true;
}
AP_ADSB::Type get_type(uint8_t instance) const;
// struct {
// // from gdl90 status message and ownship message
// bool airborne;
// bool interrogatedSinceLast;
// bool identActive;
// bool x_bit;
// bool modeAEnabled;
// bool modeCEnabled;
// bool modeSEnabled;
// bool es1090TxEnabled;
// uint16_t squawkCode;
// uint8_t NIC;
// uint8_t NACp;
// uint8_t temperature;
// char flight_id[8];
// uint8_t fault;
// // // no connection to ping200x
// // bool noComms = 1;
// // // from gdl90 heartbeat message
// // bool functionFailureGnssNo3dFix;
// // bool functionFailureGnssUnavailable;
// // bool functionFailureTransmitSystem;
// // bool maintenanceRequired;
// } tx_status;
private:
static AP_ADSB *_singleton;
@ -196,6 +221,9 @@ private: @@ -196,6 +221,9 @@ private:
// configure ADSB-out transceivers
void handle_out_cfg(const mavlink_uavionix_adsb_out_cfg_t &packet);
// control ADSB-out transcievers
void handle_out_control(const mavlink_uavionix_adsb_out_control_t &packet);
// mavlink handler
void handle_transceiver_report(const mavlink_channel_t chan, const mavlink_uavionix_adsb_transceiver_health_report_t &packet);
@ -236,11 +264,6 @@ private: @@ -236,11 +264,6 @@ private:
bool is_flying;
bool is_in_auto_mode;
// Mode 3/A transponder IDENT. This triggers, or shows status of, an active IDENT status should only be done when requested to do so by an Air Traffic Controller.
// See wikipedia for IDENT explaination https://en.wikipedia.org/wiki/Transponder_(aeronautics)
bool ident_pending;
bool ident_is_active;
// ADSB-OUT configuration
struct {
int32_t ICAO_id;
@ -260,6 +283,22 @@ private: @@ -260,6 +283,22 @@ private:
bool was_set_externally;
} cfg;
struct {
bool baroCrossChecked;
uint8_t airGroundState;
bool identActive;
bool modeAEnabled;
bool modeCEnabled;
bool modeSEnabled;
bool es1090TxEnabled;
int32_t externalBaroAltitude_mm;
uint16_t squawkCode;
uint8_t emergencyState;
uint8_t callsign[8];
bool x_bit;
} ctrl;
mavlink_uavionix_adsb_out_status_t tx_status;
} out_state;
uint8_t detected_num_instances;

150
libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
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@ -94,13 +94,13 @@ void AP_ADSB_uAvionix_UCP::update() @@ -94,13 +94,13 @@ void AP_ADSB_uAvionix_UCP::update()
send_GPS_Data();
}
if (run_state.last_packet_Transponder_Status_ms == 0) {
// never seen a status packet. Let us linger in initializing for up to 10s before we declare it failed
_frontend.out_state.status = (now_ms < 10000) ? UAVIONIX_ADSB_RF_HEALTH_INITIALIZING : UAVIONIX_ADSB_RF_HEALTH_FAIL_TX;
} else if (now_ms - run_state.last_packet_Transponder_Status_ms < AP_ADSB_UAVIONIX_HEALTH_TIMEOUT_MS) {
_frontend.out_state.status = rx.decoded.transponder_status.fault ? UAVIONIX_ADSB_RF_HEALTH_FAIL_TX : UAVIONIX_ADSB_RF_HEALTH_OK;
} else {
_frontend.out_state.status = UAVIONIX_ADSB_RF_HEALTH_FAIL_TX;
// if the transponder has stopped giving us the data needed to
// fill the transponder status mavlink message, reset that data.
if ((now_ms - run_state.last_packet_Transponder_Status_ms >= 10000 && run_state.last_packet_Transponder_Status_ms != 0)
&& (now_ms - run_state.last_packet_Transponder_Heartbeat_ms >= 10000 && run_state.last_packet_Transponder_Heartbeat_ms != 0)
&& (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000 && run_state.last_packet_Transponder_Ownship_ms != 0))
{
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
}
}
@ -108,15 +108,42 @@ void AP_ADSB_uAvionix_UCP::update() @@ -108,15 +108,42 @@ void AP_ADSB_uAvionix_UCP::update()
void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
{
switch(msg.messageId) {
case GDL90_ID_HEARTBEAT:
case GDL90_ID_HEARTBEAT: {
// The Heartbeat message provides real-time indications of the status and operation of the
// transponder. The message will be transmitted with a period of one second for the UCP
// protocol.
memcpy(&rx.decoded.heartbeat, msg.raw, sizeof(rx.decoded.heartbeat));
_frontend.out_state.ident_is_active = rx.decoded.heartbeat.status.one.ident;
if (rx.decoded.heartbeat.status.one.ident) {
// if we're identing, clear the pending send request
_frontend.out_state.ident_pending = false;
run_state.last_packet_Transponder_Heartbeat_ms = AP_HAL::millis();
// this is always true. The "ground/air bit place" is set meaning we're always in the air
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_ON_GROUND;
if (rx.decoded.heartbeat.status.one.maintenanceRequired) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_MAINT_REQ;
} else {
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_MAINT_REQ;
}
if (rx.decoded.heartbeat.status.two.functionFailureGnssUnavailable) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_UNAVAIL;
} else {
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_UNAVAIL;
}
if (rx.decoded.heartbeat.status.two.functionFailureGnssNo3dFix) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_NO_POS;
} else {
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_NO_POS;
}
if (rx.decoded.heartbeat.status.two.functionFailureTransmitSystem) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_TX_SYSTEM_FAIL;
} else {
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_TX_SYSTEM_FAIL;
}
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
}
break;
@ -155,6 +182,10 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) @@ -155,6 +182,10 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
// Ownship message will be transmitted with a period of one second regardless of data status or
// update for the UCP protocol. All fields in the ownship message are transmitted MSB first
memcpy(&rx.decoded.ownship_report, msg.raw, sizeof(rx.decoded.ownship_report));
run_state.last_packet_Transponder_Ownship_ms = AP_HAL::millis();
_frontend.out_state.tx_status.NIC_NACp = rx.decoded.ownship_report.report.NIC | (rx.decoded.ownship_report.report.NACp << 4);
memcpy(_frontend.out_state.tx_status.flight_id, rx.decoded.ownship_report.report.callsign, sizeof(_frontend.out_state.tx_status.flight_id));
//_frontend.out_state.tx_status.temperature = rx.decoded.ownship_report.report.temperature; // there is no message in the vocabulary of the 200x that has board temperature
break;
case GDL90_ID_OWNSHIP_GEOMETRIC_ALTITUDE:
@ -167,12 +198,81 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg) @@ -167,12 +198,81 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
case GDL90_ID_SENSOR_MESSAGE:
memcpy(&rx.decoded.sensor_message, msg.raw, sizeof(rx.decoded.sensor_message));
break;
#endif // AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS
case GDL90_ID_TRANSPONDER_STATUS:
memcpy(&rx.decoded.transponder_status, msg.raw, sizeof(rx.decoded.transponder_status));
if (rx.decoded.transponder_status.identActive)
{
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE;
}
else
{
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE;
}
if (rx.decoded.transponder_status.modeAEnabled)
{
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED;
}
else
{
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED;
}
if (rx.decoded.transponder_status.modeCEnabled)
{
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED;
}
else
{
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED;
}
if (rx.decoded.transponder_status.modeSEnabled)
{
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED;
}
else
{
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED;
}
if (rx.decoded.transponder_status.es1090TxEnabled)
{
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED;
}
else
{
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED;
}
if (rx.decoded.transponder_status.x_bit)
{
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED;
}
else
{
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED;
}
_frontend.out_state.tx_status.squawk = rx.decoded.transponder_status.squawkCode;
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
if (run_state.last_packet_Transponder_Status_ms == 0)
{
// set initial control message contents to transponder defaults
_frontend.out_state.ctrl.modeAEnabled = rx.decoded.transponder_status.modeAEnabled;
_frontend.out_state.ctrl.modeCEnabled = rx.decoded.transponder_status.modeCEnabled;
_frontend.out_state.ctrl.modeSEnabled = rx.decoded.transponder_status.modeSEnabled;
_frontend.out_state.ctrl.es1090TxEnabled = rx.decoded.transponder_status.es1090TxEnabled;
_frontend.out_state.ctrl.squawkCode = rx.decoded.transponder_status.squawkCode;
_frontend.out_state.ctrl.x_bit = rx.decoded.transponder_status.x_bit;
}
run_state.last_packet_Transponder_Status_ms = AP_HAL::millis();
gcs().send_message(MSG_UAVIONIX_ADSB_OUT_STATUS);
break;
#endif // AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS
case GDL90_ID_TRANSPONDER_CONTROL:
case GDL90_ID_GPS_DATA:
@ -205,7 +305,7 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control() @@ -205,7 +305,7 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control()
{
GDL90_TRANSPONDER_CONTROL_MSG msg {};
msg.messageId = GDL90_ID_TRANSPONDER_CONTROL;
msg.version = 1;
msg.version = GDL90_TRANSPONDER_CONTROL_VERSION;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// when using the simulator, always declare we're on the ground to help
@ -218,12 +318,12 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control() @@ -218,12 +318,12 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control()
#endif
msg.baroCrossChecked = ADSB_NIC_BARO_UNVERIFIED;
msg.identActive = _frontend.out_state.ident_pending && !_frontend.out_state.ident_is_active; // set when pending via user but not already active
msg.modeAEnabled = true;
msg.modeCEnabled = true;
msg.modeSEnabled = true;
msg.es1090TxEnabled = (_frontend.out_state.cfg.rfSelect & UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED) != 0;
msg.externalBaroAltitude_mm = INT32_MAX;
msg.identActive = _frontend.out_state.ctrl.identActive;
_frontend.out_state.ctrl.identActive = false; // only send identButtonActive once per request
msg.modeAEnabled = _frontend.out_state.ctrl.modeAEnabled;
msg.modeCEnabled = _frontend.out_state.ctrl.modeCEnabled;
msg.modeSEnabled = _frontend.out_state.ctrl.modeSEnabled;
msg.es1090TxEnabled = _frontend.out_state.ctrl.es1090TxEnabled;
// if enabled via param ADSB_OPTIONS, use squawk 7400 while in any Loss-Comms related failsafe
// https://www.faa.gov/documentLibrary/media/Notice/N_JO_7110.724_5-2-9_UAS_Lost_Link_2.pdf
@ -232,7 +332,7 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control() @@ -232,7 +332,7 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control()
((_frontend._options & uint32_t(AP_ADSB::AdsbOption::Squawk_7400_FS_GCS)) && notify.flags.failsafe_gcs)) {
msg.squawkCode = 7400;
} else {
msg.squawkCode = _frontend.out_state.cfg.squawk_octal;
msg.squawkCode = _frontend.out_state.ctrl.squawkCode;
}
#if AP_ADSB_UAVIONIX_EMERGENCY_STATUS_ON_LOST_LINK
@ -243,7 +343,11 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control() @@ -243,7 +343,11 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control()
msg.emergencyState = ADSB_EMERGENCY_STATUS::ADSB_EMERGENCY_NONE;
#endif
memcpy(msg.callsign, _frontend.out_state.cfg.callsign, sizeof(msg.callsign));
#if GDL90_TRANSPONDER_CONTROL_VERSION == 2
msg.x_bit = 0;
#endif
memcpy(msg.callsign, _frontend.out_state.ctrl.callsign, sizeof(msg.callsign));
gdl90Transmit((GDL90_TX_MESSAGE&)msg, sizeof(msg));
}
@ -310,7 +414,7 @@ bool AP_ADSB_uAvionix_UCP::hostTransmit(uint8_t *buffer, uint16_t length) @@ -310,7 +414,7 @@ bool AP_ADSB_uAvionix_UCP::hostTransmit(uint8_t *buffer, uint16_t length)
bool AP_ADSB_uAvionix_UCP::request_msg(const GDL90_MESSAGE_ID msg_id)
{
const GDL90_TRANSPONDER_MESSAGE_REQUEST_V2 msg {
const GDL90_TRANSPONDER_MESSAGE_REQUEST_V2 msg = {
messageId : GDL90_ID_MESSAGE_REQUEST,
version : 2,
reqMsgId : msg_id

2
libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h
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@ -85,6 +85,8 @@ private: @@ -85,6 +85,8 @@ private:
uint32_t last_packet_GPS_ms;
uint32_t last_packet_Transponder_Control_ms;
uint32_t last_packet_Transponder_Status_ms;
uint32_t last_packet_Transponder_Heartbeat_ms;
uint32_t last_packet_Transponder_Ownship_ms;
} run_state;
};

49
libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h
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@ -64,6 +64,8 @@ typedef enum __attribute__((__packed__)) @@ -64,6 +64,8 @@ typedef enum __attribute__((__packed__))
// 7 Reserved
} ADSB_EMERGENCY_STATUS;
#define GDL90_TRANSPONDER_CONTROL_VERSION (2)
#if GDL90_TRANSPONDER_CONTROL_VERSION == 1
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
@ -80,7 +82,49 @@ typedef struct __attribute__((__packed__)) @@ -80,7 +82,49 @@ typedef struct __attribute__((__packed__))
ADSB_EMERGENCY_STATUS emergencyState;
uint8_t callsign[8];
} GDL90_TRANSPONDER_CONTROL_MSG;
#elif GDL90_TRANSPONDER_CONTROL_VERSION == 2
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
ADSB_NIC_BARO baroCrossChecked : 1;
ADSB_AIR_GROUND_STATE airGroundState : 2;
uint8_t identActive : 1;
uint8_t modeAEnabled : 1;
uint8_t modeCEnabled : 1;
uint8_t modeSEnabled : 1;
uint8_t es1090TxEnabled : 1;
int32_t externalBaroAltitude_mm;
uint16_t squawkCode;
ADSB_EMERGENCY_STATUS emergencyState;
uint8_t callsign[8];
uint8_t rfu : 7;
uint8_t x_bit : 1;
} GDL90_TRANSPONDER_CONTROL_MSG;
#endif
#define GDL90_TRANSPONDER_STATUS_VERSION (1) // Version 1 is the correct UCP format; version 3 is half-duplex and not used by the ping200x
#define GDL90_STATUS_MAX_ALTITUDE_FT (101338)
#define GDL90_STATUS_MIN_ALTITUDE_FT (-1000)
#if GDL90_TRANSPONDER_STATUS_VERSION == 1
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
uint8_t rfu : 2;
uint8_t x_bit : 1;
uint8_t identActive : 1;
uint8_t modeAEnabled : 1;
uint8_t modeCEnabled : 1;
uint8_t modeSEnabled : 1;
uint8_t es1090TxEnabled : 1;
uint16_t modeARepliesPerSecond;
uint16_t modecRepliesPerSecond;
uint16_t modeSRepliesPerSecond;
uint16_t squawkCode;
} GDL90_TRANSPONDER_STATUS_MSG;
#endif
#if GDL90_TRANSPONDER_STATUS_VERSION == 3
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
@ -104,10 +148,7 @@ typedef struct __attribute__((__packed__)) @@ -104,10 +148,7 @@ typedef struct __attribute__((__packed__))
uint8_t temperature;
uint16_t crc;
} GDL90_TRANSPONDER_STATUS_MSG;
#define GDL90_TRANSPONDER_STATUS_VERSION (3)
#define GDL90_STATUS_MAX_ALTITUDE_FT (101338)
#define GDL90_STATUS_MIN_ALTITUDE_FT (-1000)
#endif
typedef struct __attribute__((__packed__))

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