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101 lines
3.7 KiB
101 lines
3.7 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 "Plane.h" |
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/* |
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* this module deals with ADS-B handling for ArduPlane |
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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 Plane::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 Plane::adsb_handle_vehicle_threats(void) |
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{ |
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uint32_t now = millis(); |
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AP_ADSB::ADSB_BEHAVIOR behavior = adsb.get_behavior(); |
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switch (control_mode) { |
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case AUTO: |
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if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_TAKEOFF) { |
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// for testing purposes ignore ADS-B traffic until we get into the air so we don't screw up the sim takeoff |
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break; |
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} |
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switch(behavior) { |
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case AP_ADSB::ADSB_BEHAVIOR_NONE: |
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default: |
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break; |
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case AP_ADSB::ADSB_BEHAVIOR_LOITER: |
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case AP_ADSB::ADSB_BEHAVIOR_LOITER_AND_DESCEND: |
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if (adsb.get_another_vehicle_within_radius() && !adsb.get_is_evading_threat()) { |
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adsb.set_is_evading_threat(true); |
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gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat found, performing LOITER"); |
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adsb_state.prev_wp = prev_WP_loc; |
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set_mode(LOITER); |
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if (behavior == AP_ADSB::ADSB_BEHAVIOR_LOITER_AND_DESCEND) { |
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adsb_state.time_last_alt_change_ms = now; |
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} |
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} |
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} // switch behavior |
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break; // case auto |
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case LOITER: |
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switch(behavior) { |
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case AP_ADSB::ADSB_BEHAVIOR_NONE: |
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// TODO: recover from this |
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default: |
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break; |
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case AP_ADSB::ADSB_BEHAVIOR_LOITER: |
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case AP_ADSB::ADSB_BEHAVIOR_LOITER_AND_DESCEND: |
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if (adsb.get_is_evading_threat()) { |
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if (!adsb.get_another_vehicle_within_radius()) { |
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adsb.set_is_evading_threat(false); |
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gcs_send_text(MAV_SEVERITY_CRITICAL, "ADS-B threat gone, continuing mission"); |
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set_mode(AUTO); |
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prev_WP_loc = adsb_state.prev_wp; |
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auto_state.no_crosstrack = false; |
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} else if (behavior == AP_ADSB::ADSB_BEHAVIOR_LOITER_AND_DESCEND && |
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now - adsb_state.time_last_alt_change_ms >= 1000) { |
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// slowly reduce altitude 1m/s while loitering. Drive into the ground if threat persists |
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adsb_state.time_last_alt_change_ms = now; |
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next_WP_loc.alt -= 100; |
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} // get_another_vehicle_within_radius |
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} // get_is_evading_threat |
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} // switch behavior |
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break; // case LOITER |
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default: |
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break; |
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} // switch control_mode |
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} |
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