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Add Traffic Avoidance System (ADSB/FLARM) Arming Check (#26390)

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* Add traffic avoidance system checks

* Update msg/px4_msgs_old/msg/VehicleStatusV1.msg

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

* docs: add arming check for traffic avoidance systems in ADS-B/FLARM documentation

* fix formating

* trafficAvoidanceCheck: switch case for configuration options

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Claudio Chies
2026-02-18 17:37:03 +01:00
committed by Matthias Grob
co-authored by Hamish Willee Matthias Grob
parent adc9a6d35d
commit 05de941399
15 changed files with 256 additions and 54 deletions
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msg/translation_node/translations/translation_vehicle_status_v2.h
+6 -2
View File
@@ -1,5 +1,5 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* Copyright (c) 2026 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
@@ -19,6 +19,7 @@ public:
static constexpr const char* kTopic = "fmu/out/vehicle_status";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
// Set msg_newer from msg_older
msg_newer.timestamp = msg_older.timestamp;
msg_newer.armed_time = msg_older.armed_time;
msg_newer.takeoff_time = msg_older.takeoff_time;
@@ -56,13 +57,14 @@ public:
msg_newer.open_drone_id_system_healthy = msg_older.open_drone_id_system_healthy;
msg_newer.parachute_system_present = msg_older.parachute_system_present;
msg_newer.parachute_system_healthy = msg_older.parachute_system_healthy;
msg_newer.traffic_avoidance_system_present = false; // New field, default to false
msg_newer.rc_calibration_in_progress = msg_older.rc_calibration_in_progress;
msg_newer.calibration_enabled = msg_older.calibration_enabled;
msg_newer.pre_flight_checks_pass = msg_older.pre_flight_checks_pass;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
// copy everything except the new executor_nav_state
// Set msg_older from msg_newer
msg_older.timestamp = msg_newer.timestamp;
msg_older.armed_time = msg_newer.armed_time;
msg_older.takeoff_time = msg_newer.takeoff_time;
@@ -73,6 +75,7 @@ public:
msg_older.nav_state_user_intention = msg_newer.nav_state_user_intention;
msg_older.nav_state = msg_newer.nav_state;
msg_older.executor_in_charge = msg_newer.executor_in_charge;
// nav_state_display dropped (not in V1)
msg_older.valid_nav_states_mask = msg_newer.valid_nav_states_mask;
msg_older.can_set_nav_states_mask = msg_newer.can_set_nav_states_mask;
msg_older.failure_detector_status = msg_newer.failure_detector_status;
@@ -99,6 +102,7 @@ public:
msg_older.open_drone_id_system_healthy = msg_newer.open_drone_id_system_healthy;
msg_older.parachute_system_present = msg_newer.parachute_system_present;
msg_older.parachute_system_healthy = msg_newer.parachute_system_healthy;
// traffic_avoidance_system_present is dropped (not in V1)
msg_older.rc_calibration_in_progress = msg_newer.rc_calibration_in_progress;
msg_older.calibration_enabled = msg_newer.calibration_enabled;
msg_older.pre_flight_checks_pass = msg_newer.pre_flight_checks_pass;