fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 05:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Don't use ADSB messages with undefined fields in navigator (#8900)

Browse Source 
Don't use ADSB messages with undefined fields in navigator
This commit is contained in:
Vasily Evseenko
2018-02-18 11:08:40 +01:00
committed by Lorenz Meier
parent a1f660119c
commit 135162522a
5 changed files with 61 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+16 -1
View File
@@ -1346,6 +1346,8 @@ protected:
while (_pos_sub->update(&_pos_time, &pos)) {
mavlink_adsb_vehicle_t msg = {};
if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { continue; }
msg.ICAO_address = pos.ICAO_address;
msg.lat = pos.lat * 1e7;
msg.lon = pos.lon * 1e7;
@@ -1357,9 +1359,22 @@ protected:
memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
msg.emitter_type = pos.emitter_type;
msg.tslc = pos.tslc;
msg.flags = pos.flags;
msg.squawk = pos.squawk;
msg.flags = 0;
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
sent = true;
}
src/modules/mavlink/mavlink_receiver.cpp
+14 -1
View File
@@ -2079,9 +2079,22 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
memcpy(&t.callsign[0], &adsb.callsign[0], sizeof(t.callsign));
t.emitter_type = adsb.emitter_type;
t.tslc = adsb.tslc;
t.flags = adsb.flags;
t.squawk = adsb.squawk;
t.flags = transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE; //Unset in receiver already broadcast its messages
if (adsb.flags & ADSB_FLAGS_VALID_COORDS) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; }
if (adsb.flags & ADSB_FLAGS_VALID_ALTITUDE) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; }
if (adsb.flags & ADSB_FLAGS_VALID_HEADING) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; }
if (adsb.flags & ADSB_FLAGS_VALID_VELOCITY) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; }
if (adsb.flags & ADSB_FLAGS_VALID_CALLSIGN) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; }
if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }
//PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc);
if (_transponder_report_pub == nullptr) {