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

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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
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src/modules/mavlink/mavlink_messages.cpp
+16 -1
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@@ -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;
}