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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/navigator/navigator_main.cpp
+87 -16
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@@ -899,7 +899,7 @@ Navigator::load_fence_from_file(const char *filename)
*
*/
void Navigator::fake_traffic(const char *callsign, float distance, float direction, float traffic_heading,
float altitude_diff, float hor_velocity, float ver_velocity)
float altitude_diff, float hor_velocity, float ver_velocity, int emitter_type)
{
double lat, lon;
waypoint_from_heading_and_distance(get_global_position()->lat, get_global_position()->lon, direction, distance, &lat,
@@ -922,14 +922,30 @@ void Navigator::fake_traffic(const char *callsign, float distance, float directi
tr.ver_velocity = ver_velocity; //-vel_d; // The vertical velocity in m/s, positive is up
strncpy(&tr.callsign[0], callsign, sizeof(tr.callsign) - 1);
tr.callsign[sizeof(tr.callsign) - 1] = 0;
tr.emitter_type = 0; // Type from ADSB_EMITTER_TYPE enum
tr.emitter_type = emitter_type; // Type from ADSB_EMITTER_TYPE enum
tr.tslc = 2; // Time since last communication in seconds
tr.flags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS | transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY |
transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE |
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; // Flags to indicate various statuses including valid data fields
(transponder_report_s::ADSB_EMITTER_TYPE_UAV & emitter_type ? 0 :
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN); // Flags to indicate various statuses including valid data fields
tr.squawk = 6667;
#ifndef BOARD_HAS_NO_UUID
px4_guid_t px4_guid;
board_get_px4_guid(px4_guid);
memcpy(tr.uas_id, px4_guid, sizeof(px4_guid_t)); //simulate own GUID
#else
for (int i = 0; i < PX4_GUID_BYTE_LENGTH ; i++) {
tr.uas_id[i] = 0xe0 + i; //simulate GUID
}
#endif /* BOARD_HAS_NO_UUID */
uORB::PublicationQueued<transponder_report_s> tr_pub{ORB_ID(transponder_report)};
tr_pub.publish(tr);
}
@@ -948,11 +964,16 @@ void Navigator::check_traffic()
bool changed = _traffic_sub.updated();
float horizontal_separation = 500;
float vertical_separation = 500;
char uas_id[11]; //GUID of incoming UTM messages
float NAVTrafficAvoidUnmanned = _param_nav_traff_a_radu.get();
float NAVTrafficAvoidManned = _param_nav_traff_a_radm.get();
float horizontal_separation = NAVTrafficAvoidManned;
float vertical_separation = NAVTrafficAvoidManned;
while (changed) {
//vehicle_status_s vs{};
transponder_report_s tr{};
_traffic_sub.copy(&tr);
@@ -965,6 +986,17 @@ void Navigator::check_traffic()
continue;
}
//convert UAS_id byte array to char array for User Warning
for (int i = 0; i < 5; i++) {
snprintf(&uas_id[i * 2], sizeof(uas_id) - i * 2, "%02x", tr.uas_id[PX4_GUID_BYTE_LENGTH - 5 + i]);
}
//Manned/Unmanned Vehicle Seperation Distance
if (tr.emitter_type == transponder_report_s::ADSB_EMITTER_TYPE_UAV) {
horizontal_separation = NAVTrafficAvoidUnmanned;
vertical_separation = NAVTrafficAvoidUnmanned;
}
float d_hor, d_vert;
get_distance_to_point_global_wgs84(lat, lon, alt,
tr.lat, tr.lon, tr.altitude, &d_hor, &d_vert);
@@ -999,27 +1031,33 @@ void Navigator::check_traffic()
// direction of traffic in human-readable 0..360 degree in earth frame
int traffic_direction = math::degrees(tr.heading) + 180;
int traffic_seperation = (int)fabsf(cr.distance);
switch (_param_nav_traff_avoid.get()) {
case 0: {
/* ignore */
PX4_WARN("TRAFFIC %s, hdg: %d", tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign :
"unknown",
/* Ignore */
PX4_WARN("TRAFFIC %s! dst %d, hdg %d",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
break;
}
case 1: {
mavlink_log_critical(&_mavlink_log_pub, "WARNING TRAFFIC %s at heading %d, land immediately",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : "unknown",
/* Warn only */
mavlink_log_critical(&_mavlink_log_pub, "Warning TRAFFIC %s! dst %d, hdg %d",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
break;
}
case 2: {
mavlink_log_critical(&_mavlink_log_pub, "AVOIDING TRAFFIC %s heading %d, returning home",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : "unknown",
/* RTL Mode */
mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Returning home! dst %d, hdg %d",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
// set the return altitude to minimum
@@ -1031,6 +1069,36 @@ void Navigator::check_traffic()
publish_vehicle_cmd(&vcmd);
break;
}
case 3: {
/* Land Mode */
mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Landing! dst %d, hdg % d",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
// ask the commander to land
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
publish_vehicle_cmd(&vcmd);
break;
}
case 4: {
/* Position hold */
mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Holding position! dst %d, hdg %d",
tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign : uas_id,
traffic_seperation,
traffic_direction);
// ask the commander to Loiter
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
publish_vehicle_cmd(&vcmd);
break;
}
}
}
}
@@ -1084,9 +1152,12 @@ int Navigator::custom_command(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[0], "fake_traffic")) {
get_instance()->fake_traffic("LX007", 500, 1.0f, -1.0f, 100.0f, 90.0f, 0.001f);
get_instance()->fake_traffic("LX55", 1000, 0, 0, 100.0f, 90.0f, 0.001f);
get_instance()->fake_traffic("LX20", 15000, 1.0f, -1.0f, 280.0f, 90.0f, 0.001f);
get_instance()->fake_traffic("LX007", 500, 1.0f, -1.0f, 100.0f, 90.0f, 0.001f,
transponder_report_s::ADSB_EMITTER_TYPE_LIGHT);
get_instance()->fake_traffic("LX55", 1000, 0, 0, 100.0f, 90.0f, 0.001f, transponder_report_s::ADSB_EMITTER_TYPE_SMALL);
get_instance()->fake_traffic("LX20", 15000, 1.0f, -1.0f, 280.0f, 90.0f, 0.001f,
transponder_report_s::ADSB_EMITTER_TYPE_LARGE);
get_instance()->fake_traffic("UAV", 10, 1.0f, -2.0f, 10.0f, 10.0f, 0.01f, transponder_report_s::ADSB_EMITTER_TYPE_UAV);
return 0;
}
@@ -1195,7 +1266,7 @@ controller.
PRINT_MODULE_USAGE_NAME("navigator", "controller");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("fencefile", "load a geofence file from SD card, stored at etc/geofence.txt");
PRINT_MODULE_USAGE_COMMAND_DESCR("fake_traffic", "publishes 3 fake transponder_report_s uORB messages");
PRINT_MODULE_USAGE_COMMAND_DESCR("fake_traffic", "publishes 4 fake transponder_report_s uORB messages");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;