From 8d6748dc4ff3cd8fb70ecfd1017dd48610e3639c Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Sun, 17 Feb 2019 07:44:28 -0800
Subject: [PATCH] AP_ADSB: add special vehicle that ignores range filters

---
 libraries/AP_ADSB/AP_ADSB.cpp | 13 +++++++++++--
 libraries/AP_ADSB/AP_ADSB.h   |  9 +++++++++
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_ADSB/AP_ADSB.cpp b/libraries/AP_ADSB/AP_ADSB.cpp
index 9bedd77163..ac87ee8c59 100644
--- a/libraries/AP_ADSB/AP_ADSB.cpp
+++ b/libraries/AP_ADSB/AP_ADSB.cpp
@@ -138,6 +138,11 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
     // @Units: m
     AP_GROUPINFO("LIST_ALT",   12, AP_ADSB, in_state.list_altitude, 0),
 
+    // @Param: ICAO_SPECL
+    // @DisplayName: ICAO_ID of special vehicle
+    // @Description: ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.
+    // @User: Advanced
+    AP_GROUPINFO("ICAO_SPECL",  13, AP_ADSB, _special_ICAO_target, 0),
 
     AP_GROUPEND
 };
@@ -295,6 +300,9 @@ void AP_ADSB::determine_furthest_aircraft(void)
     uint16_t max_distance_index = 0;
 
     for (uint16_t index = 0; index < in_state.vehicle_count; index++) {
+        if (is_special_vehicle(in_state.vehicle_list[index].info.ICAO_address)) {
+            continue;
+        }
         const float distance = _my_loc.get_distance(get_location(in_state.vehicle_list[index]));
         if (max_distance < distance || index == 0) {
             max_distance = distance;
@@ -377,8 +385,9 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
     const Location vehicle_loc = AP_ADSB::get_location(vehicle);
     const bool my_loc_is_zero = _my_loc.is_zero();
     const float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
-    const bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius;
-    const bool out_of_range_alt = in_state.list_altitude > 0 && !my_loc_is_zero && abs(vehicle_loc.alt - _my_loc.alt) > in_state.list_altitude*100;
+    const bool is_special = is_special_vehicle(vehicle.info.ICAO_address);
+    const bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius && !is_special;
+    const bool out_of_range_alt = in_state.list_altitude > 0 && !my_loc_is_zero && abs(vehicle_loc.alt - _my_loc.alt) > in_state.list_altitude*100 && !is_special;
     const bool is_tracked_in_list = find_index(vehicle, &index);
     const uint32_t now = AP_HAL::millis();
 
diff --git a/libraries/AP_ADSB/AP_ADSB.h b/libraries/AP_ADSB/AP_ADSB.h
index 6cfe01d0f0..ee779b77f9 100644
--- a/libraries/AP_ADSB/AP_ADSB.h
+++ b/libraries/AP_ADSB/AP_ADSB.h
@@ -83,6 +83,11 @@ public:
     // 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;
 
+    uint32_t get_special_ICAO_target() const { return (uint32_t)_special_ICAO_target; };
+    void set_special_ICAO_target(const uint32_t new_icao_target) { _special_ICAO_target = (int32_t)new_icao_target; };
+    bool is_special_vehicle(uint32_t icao) const { return _special_ICAO_target != 0 && (_special_ICAO_target == (int32_t)icao); }
+
+
 private:
     // initialize _vehicle_list
     void init();
@@ -180,6 +185,10 @@ private:
     uint16_t    furthest_vehicle_index;
     float       furthest_vehicle_distance;
 
+
+    // special ICAO of interest that ignored filters when != 0
+    AP_Int32 _special_ICAO_target;
+
     static const uint8_t max_samples = 30;
     AP_Buffer<adsb_vehicle_t, max_samples> samples;