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Merge pull request #10298 from error414/adsb-enhanced

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adsb enhanced
This commit is contained in:
Marcelo Bezerra 2024-08-15 23:33:52 +02:00 • committed by GitHub
commit d5aeca10e1
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GPG key ID: B5690EEEBB952194
7 changed files with 39 additions and 2 deletions
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4
src/main/fc/fc_msp.c
View file

@ -956,6 +956,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#ifdef USE_ADSB
sbufWriteU8(dst, MAX_ADSB_VEHICLES);
sbufWriteU8(dst, ADSB_CALL_SIGN_MAX_LENGTH);
sbufWriteU32(dst, getAdsbStatus()->vehiclesMessagesTotal);
sbufWriteU32(dst, getAdsbStatus()->heartbeatMessagesTotal);
for(uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++){
@ -977,6 +979,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
#endif
break;
case MSP_DEBUG:

6
src/main/io/adsb.c
View file

@ -131,6 +131,11 @@ void gpsDistanceCmBearing(int32_t currentLat1, int32_t currentLon1, int32_t dest
*bearing = wrap_36000(*bearing);
};
bool adsbHeartbeat(void){
adsbVehiclesStatus.heartbeatMessagesTotal++;
return true;
}
void adsbNewVehicle(adsbVehicleValues_t* vehicleValuesLocal) {
// no valid lat lon or altitude
@ -139,6 +144,7 @@ void adsbNewVehicle(adsbVehicleValues_t* vehicleValuesLocal) {
}
adsbVehiclesStatus.vehiclesMessagesTotal++;
adsbVehicle_t *vehicle = NULL;
vehicle = findVehicleByIcao(vehicleValuesLocal->icao);

2
src/main/io/adsb.h
View file

@ -54,9 +54,11 @@ typedef struct {
typedef struct {
uint32_t vehiclesMessagesTotal;
uint32_t heartbeatMessagesTotal;
} adsbVehicleStatus_t;
void adsbNewVehicle(adsbVehicleValues_t* vehicleValuesLocal);
bool adsbHeartbeat(void);
adsbVehicle_t * findVehicleClosest(void);
adsbVehicle_t * findVehicle(uint8_t index);
uint8_t getActiveVehiclesCount(void);

2
src/main/io/osd.c
View file

@ -2136,7 +2136,7 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_ADSB_INFO:
{
buff[0] = SYM_ADSB;
if(getAdsbStatus()->vehiclesMessagesTotal > 0){
if(getAdsbStatus()->vehiclesMessagesTotal > 0 || getAdsbStatus()->heartbeatMessagesTotal > 0){
tfp_sprintf(buff + 1, "%2d", getActiveVehiclesCount());
}else{
buff[1] = '-';

18
src/main/telemetry/mavlink.c
View file

@ -1134,6 +1134,22 @@ static bool handleIncoming_RADIO_STATUS(void) {
return true;
}
static bool handleIncoming_HEARTBEAT(void) {
mavlink_heartbeat_t msg;
mavlink_msg_heartbeat_decode(&mavRecvMsg, &msg);
switch (msg.type) {
#ifdef USE_ADSB
case MAV_TYPE_ADSB:
return adsbHeartbeat();
#endif
default:
break;
}
return false;
}
#ifdef USE_ADSB
static bool handleIncoming_ADSB_VEHICLE(void) {
mavlink_adsb_vehicle_t msg;
@ -1188,7 +1204,7 @@ static bool processMAVLinkIncomingTelemetry(void)
if (result == MAVLINK_FRAMING_OK) {
switch (mavRecvMsg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
break;
return handleIncoming_HEARTBEAT();
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
return handleIncoming_PARAM_REQUEST_LIST();
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: