Navigator: make ADSB handling optional

boards/bitcraze/crazyflie21/default.px4board

@@ -32,6 +32,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NAVIGATOR_ADSB=n
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

boards/diatone/mamba-f405-mk2/default.px4board

@@ -36,6 +36,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NAVIGATOR_ADSB=n
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y

boards/flywoo/gn-f405/default.px4board

@@ -27,6 +27,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NAVIGATOR_ADSB=n
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y

boards/holybro/kakutef7/default.px4board

@@ -40,6 +40,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NAVIGATOR_ADSB=n
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

boards/omnibus/f4sd/default.px4board

@@ -31,6 +31,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NAVIGATOR_ADSB=n
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

boards/px4/fmu-v2/default.px4board

@@ -40,6 +40,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NAVIGATOR_ADSB=n
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

boards/raspberrypi/pico/default.px4board

@@ -32,6 +32,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NAVIGATOR_ADSB=n
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y

src/modules/navigator/Kconfig

@@ -19,3 +19,11 @@ menuconfig MODE_NAVIGATOR_VTOL_TAKEOFF
 		Add VTOL takeoff mode to enable support for MAV_CMD_NAV_VTOL_TAKEOFF.
 		The VTOL takes off in MC mode and transition to FW. The mode ends with
 		an infinite loiter
+
+menuconfig NAVIGATOR_ADSB
+	bool "Include traffic reporting and avoidance"
+	default y
+	depends on MODULES_NAVIGATOR
+	---help---
+		Add support for acting on ADSB transponder_report or ADSB_VEHICLE MAVLink messages.
+		Actions are warnings, Loiter, Land and RTL without climb.

src/modules/navigator/navigator.h

@@ -57,8 +57,11 @@
 
 #include "GeofenceBreachAvoidance/geofence_breach_avoidance.h"
 
+#if CONFIG_NAVIGATOR_ADSB
 #include <lib/adsb/AdsbConflict.h>
+#endif // CONFIG_NAVIGATOR_ADSB
 #include <lib/perf/perf_counter.h>
+#include <px4_platform_common/events.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <uORB/Publication.hpp>
@@ -136,14 +139,14 @@ public:
 	 */
 	void publish_vehicle_cmd(vehicle_command_s *vcmd);
 
+#if CONFIG_NAVIGATOR_ADSB
 	/**
 	 * Check nearby traffic for potential collisions
 	 */
 	void check_traffic();
-
 	void take_traffic_conflict_action();
-
 	void run_fake_traffic();
+#endif // CONFIG_NAVIGATOR_ADSB
 
 	/**
 	 * Setters
@@ -365,7 +368,10 @@ private:
 	Land		_land;			/**< class for handling land commands */
 	PrecLand	_precland;			/**< class for handling precision land commands */
 	RTL 		_rtl;				/**< class that handles RTL */
+#if CONFIG_NAVIGATOR_ADSB
 	AdsbConflict 	_adsb_conflict;			/**< class that handles ADSB conflict avoidance */
+	traffic_buffer_s _traffic_buffer{};
+#endif // CONFIG_NAVIGATOR_ADSB
 
 	NavigatorMode *_navigation_mode{nullptr};	/**< abstract pointer to current navigation mode class */
 	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE] {};	/**< array of navigation modes */
@@ -381,8 +387,6 @@ private:
 	float _cruising_speed_current_mode{-1.0f};
 	float _mission_throttle{NAN};
 
-	traffic_buffer_s _traffic_buffer{};
-
 	bool _is_capturing_images{false}; // keep track if we need to stop capturing images
 
 

src/modules/navigator/navigator_main.cpp

@@ -52,7 +52,6 @@
 #include <dataman_client/DatamanClient.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/geo/geo.h>
-#include <lib/adsb/AdsbConflict.h>
 #include <lib/mathlib/mathlib.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
@@ -143,9 +142,11 @@ void Navigator::params_update()
 	}
 
 	_mission.set_command_timeout(_param_mis_command_tout.get());
+#if CONFIG_NAVIGATOR_ADSB
 	_adsb_conflict.set_conflict_detection_params(_param_nav_traff_a_hor_ct.get(),
 			_param_nav_traff_a_ver.get(),
 			_param_nav_traff_collision_time.get(), _param_nav_traff_avoid.get());
+#endif // CONFIG_NAVIGATOR_ADSB
 }
 
 void Navigator::run()
@@ -752,8 +753,10 @@ void Navigator::run()
 			}
 		}
 
+#if CONFIG_NAVIGATOR_ADSB
 		/* Check for traffic */
 		check_traffic();
+#endif // CONFIG_NAVIGATOR_ADSB
 
 		/* Check geofence violation */
 		geofence_breach_check();
@@ -1222,6 +1225,7 @@ void Navigator::load_fence_from_file(const char *filename)
 	_geofence.loadFromFile(filename);
 }
 
+#if CONFIG_NAVIGATOR_ADSB
 void Navigator::take_traffic_conflict_action()
 {
 
@@ -1251,12 +1255,10 @@ void Navigator::take_traffic_conflict_action()
 
 		}
 	}
-
 }
 
 void Navigator::run_fake_traffic()
 {
-
 	_adsb_conflict.run_fake_traffic(get_global_position()->lat, get_global_position()->lon,
 					get_global_position()->alt);
 }
@@ -1283,6 +1285,7 @@ void Navigator::check_traffic()
 
 	_adsb_conflict.remove_expired_conflicts();
 }
+#endif // CONFIG_NAVIGATOR_ADSB
 
 bool Navigator::abort_landing()
 {
@@ -1325,11 +1328,14 @@ int Navigator::custom_command(int argc, char *argv[])
 		get_instance()->load_fence_from_file(GEOFENCE_FILENAME);
 		return 0;
 
+#if CONFIG_NAVIGATOR_ADSB
+
 	} else if (!strcmp(argv[0], "fake_traffic")) {
 
 		get_instance()->run_fake_traffic();
 
 		return 0;
+#endif // CONFIG_NAVIGATOR_ADSB
 	}
 
 	return print_usage("unknown command");