fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 22:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
* 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
2026-02-16 11:10:32 -08:00
committed by Matthias Grob
parent adc9a6d35d
commit 05de941399
15 changed files with 256 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+26
View File
@@ -2880,6 +2880,22 @@ void Commander::dataLinkCheck()
_vehicle_status.open_drone_id_system_present = true;
_vehicle_status.open_drone_id_system_healthy = healthy;
}
// Traffic avoidance system (ADSB or FLARM)
if (telemetry.heartbeat_type_adsb || telemetry.heartbeat_type_flarm) {
if (_traffic_avoidance_system_lost) { // recovered
_traffic_avoidance_system_lost = false;
if (_datalink_last_heartbeat_traffic_avoidance_system != 0) {
mavlink_log_info(&_mavlink_log_pub, "Traffic avoidance system regained\t");
events::send(events::ID("commander_traffic_avoidance_regained"), events::Log::Info,
"Traffic avoidance system regained");
}
}
_datalink_last_heartbeat_traffic_avoidance_system = telemetry.timestamp;
_vehicle_status.traffic_avoidance_system_present = true;
}
}
}
@@ -2931,6 +2947,16 @@ void Commander::dataLinkCheck()
_open_drone_id_system_lost = true;
_status_changed = true;
}
// Traffic avoidance system (ADSB/FLARM)
if ((hrt_elapsed_time(&_datalink_last_heartbeat_traffic_avoidance_system) > 3_s)
&& !_traffic_avoidance_system_lost) {
mavlink_log_critical(&_mavlink_log_pub, "Traffic avoidance system lost");
events::send(events::ID("commander_traffic_avoidance_lost"), events::Log::Critical, "Traffic avoidance system lost");
_vehicle_status.traffic_avoidance_system_present = false;
_traffic_avoidance_system_lost = true;
_status_changed = true;
}
}
void Commander::battery_status_check()