src/main/io/adsb.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include <stdint.h>
  21 #include "common/time.h"
  22 #include "fc/runtime_config.h"
  23
  24 #define ADSB_CALL_SIGN_MAX_LENGTH 9
  25 #define ADSB_MAX_SECONDS_KEEP_INACTIVE_PLANE_IN_LIST 10
  26
  27 typedef struct {
  28     bool valid;
  29     int32_t dir;   // centidegrees direction to plane, pivot is inav FC
  30     uint32_t dist;  // CM distance to plane, pivot is inav FC
  31     int32_t verticalDistance; // CM, vertical distance to plane, pivot is inav FC
  32 } adsbVehicleCalculatedValues_t;
  33
  34 typedef struct {
  35     uint32_t icao; // ICAO address
  36     int32_t lat; // Latitude, expressed as degrees * 1E7
  37     int32_t lon; // Longitude, expressed as degrees * 1E7
  38     int32_t alt;  // Barometric/Geometric Altitude (ASL), in cm
  39     uint16_t heading; // Course over ground in centidegrees
  40     uint16_t flags; // Flags to indicate various statuses including valid data fields
  41     uint8_t altitudeType; // Type from ADSB_ALTITUDE_TYPE enum
  42     char callsign[ADSB_CALL_SIGN_MAX_LENGTH]; // The callsign, 8 chars + NULL
  43     uint8_t emitterType; // Type from ADSB_EMITTER_TYPE enum
  44     uint8_t tslc; // Time since last communication in seconds
  45 } adsbVehicleValues_t;
  46
  47 typedef struct {
  48     adsbVehicleValues_t vehicleValues;
  49     adsbVehicleCalculatedValues_t calculatedVehicleValues;
  50     uint8_t ttl;
  51 } adsbVehicle_t;
  52
  53
  54
  55 typedef struct {
  56    uint32_t vehiclesMessagesTotal;
  57 } adsbVehicleStatus_t;
  58
  59 void adsbNewVehicle(adsbVehicleValues_t* vehicleValuesLocal);
  60 adsbVehicle_t * findVehicleClosest(void);
  61 adsbVehicle_t * findVehicle(uint8_t index);
  62 uint8_t getActiveVehiclesCount(void);
  63 void adsbTtlClean(timeUs_t currentTimeUs);
  64 adsbVehicleStatus_t* getAdsbStatus(void);
  65 adsbVehicleValues_t* getVehicleForFill(void);
  66 bool enviromentOkForCalculatingDistaceBearing(void);
  67 void recalculateVehicle(adsbVehicle_t* vehicle);