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ADSB traffic avoidance improvements using UTM_GLOBAL_POSITION (#13159)

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* Treat UAVS diffrently from manned aviation 
 * Added fake_traffic testing functionality,
 * Added NAV_TRAFF_AVOID Hold and Landmode
 * Added Behavior: HOLD Position to collision avoidance mode and implemented Landmode to collision avoidance.

Boards where no Hardware GUID is defined will send 0 as GUID.

Right now collision avoidance for more than one FMU without Hardware GUID is not possible.
We should consider adding a randomly generated HW GUID as a placeholder for legacy Boards
This commit is contained in:
Low Orbit Ion Cannon
2020-01-17 14:58:28 -05:00
committed by Daniel Agar
parent 8d0402f274
commit 7dd949edb1
5 changed files with 212 additions and 69 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+65 -52
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@@ -2299,63 +2299,76 @@ MavlinkReceiver::handle_message_utm_global_position(mavlink_message_t *msg)
mavlink_utm_global_position_t utm_pos;
mavlink_msg_utm_global_position_decode(msg, &utm_pos);
// Convert cm/s to m/s
float vx = utm_pos.vx / 100.0f;
float vy = utm_pos.vy / 100.0f;
float vz = utm_pos.vz / 100.0f;
px4_guid_t px4_guid;
#ifndef BOARD_HAS_NO_UUID
board_get_px4_guid(px4_guid);
#else
// TODO Fill ID with something reasonable
memset(&px4_guid[0], 0, sizeof(px4_guid));
#endif /* BOARD_HAS_NO_UUID */
transponder_report_s t{};
t.timestamp = hrt_absolute_time();
// TODO: ID
t.lat = utm_pos.lat * 1e-7;
t.lon = utm_pos.lon * 1e-7;
t.altitude = utm_pos.alt / 1000.0f;
t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC;
// UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s.
t.heading = atan2f(vy, vx);
t.hor_velocity = sqrtf(vy * vy + vx * vx);
t.ver_velocity = -vz;
// TODO: Callsign
// For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null
// terminator could cause problems.
memset(&t.callsign[0], 0, sizeof(t.callsign));
t.emitter_type = ADSB_EMITTER_TYPE_NO_INFO; // TODO: Is this correct?
// The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of
// an 8-bit int, or if this is the first communication.
// Here, I assume that if this is the first communication, tslc = 0.
// If tslc > 255, then tslc = 255.
unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000;
//Ignore selfpublished UTM messages
if (sizeof(px4_guid) == sizeof(utm_pos.uas_id) && memcmp(px4_guid, utm_pos.uas_id, sizeof(px4_guid_t)) != 0) {
if (_last_utm_global_pos_com == 0) {
time_passed = 0;
// Convert cm/s to m/s
float vx = utm_pos.vx / 100.0f;
float vy = utm_pos.vy / 100.0f;
float vz = utm_pos.vz / 100.0f;
} else if (time_passed > UINT8_MAX) {
time_passed = UINT8_MAX;
transponder_report_s t{};
t.timestamp = hrt_absolute_time();
mav_array_memcpy(t.uas_id, utm_pos.uas_id, sizeof(px4_guid_t));
t.lat = utm_pos.lat * 1e-7;
t.lon = utm_pos.lon * 1e-7;
t.altitude = utm_pos.alt / 1000.0f;
t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC;
// UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s.
t.heading = atan2f(vy, vx);
t.hor_velocity = sqrtf(vy * vy + vx * vx);
t.ver_velocity = -vz;
// TODO: Callsign
// For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null
// terminator could cause problems.
memset(&t.callsign[0], 0, sizeof(t.callsign));
t.emitter_type = ADSB_EMITTER_TYPE_UAV; // TODO: Is this correct?x2?
// The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of
// an 8-bit int, or if this is the first communication.
// Here, I assume that if this is the first communication, tslc = 0.
// If tslc > 255, then tslc = 255.
unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000;
if (_last_utm_global_pos_com == 0) {
time_passed = 0;
} else if (time_passed > UINT8_MAX) {
time_passed = UINT8_MAX;
}
t.tslc = (uint8_t) time_passed;
t.flags = 0;
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS;
}
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
}
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
}
// Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not
// provide these.
_transponder_report_pub.publish(t);
_last_utm_global_pos_com = t.timestamp;
}
t.tslc = (uint8_t) time_passed;
t.flags = 0;
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS;
}
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
}
if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) {
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
}
// Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not
// provide these.
_transponder_report_pub.publish(t);
_last_utm_global_pos_com = t.timestamp;
}
void