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62 lines
2.0 KiB
62 lines
2.0 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* adsb.cpp |
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* Copyright (C) Tom Pittenger 2015 |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "Copter.h" |
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#if ADSB_ENABLED == ENABLED |
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/* |
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* this module deals with ADS-B handling for ArduPilot |
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* ADS-B is an RF based collision avoidance protocol to tell nearby aircraft your location |
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* https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast |
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* |
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*/ |
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/* |
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handle periodic adsb database maintenance and handle threats |
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*/ |
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void Copter::adsb_update(void) |
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{ |
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adsb.update(); |
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adsb_handle_vehicle_threats(); |
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} |
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/* |
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* Handle ADS-B based threats which are platform dependent |
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*/ |
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void Copter::adsb_handle_vehicle_threats(void) |
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{ |
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// handle clearing of threat |
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if (adsb.get_is_evading_threat() && !adsb.get_possible_threat()) { |
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adsb.set_is_evading_threat(false); |
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_RESOLVED); |
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gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat cleared"); |
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return; |
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} |
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// handle new threat |
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if (!adsb.get_is_evading_threat() && adsb.get_possible_threat()) { |
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adsb.set_is_evading_threat(true); |
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_FAILSAFE_OCCURRED); |
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gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat!"); |
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return; |
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} |
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} |
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#endif // #ADSB_ENABLED
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