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This is a first baseline implementation for collision avoidance with aircraft equipped with transponders. Since the drone-to-drone and drone-to-airplane system will be regulated by a standard, we do carefully avoid to do anything too fancy. This implementation allows to reduce altitude to get close to ground and land immediately or RTL. This is similar to what a human pilot would do and allows to get out of manned airspace which is at higher altitudes.
16 lines
718 B
Plaintext
16 lines
718 B
Plaintext
uint32 ICAO_address # ICAO address
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float64 lat # Latitude, expressed as degrees
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float64 lon # Longitude, expressed as degrees
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uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
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float32 altitude # Altitude(ASL) in meters
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float32 heading # Course over ground in radians, -pi to +pi, 0 is north
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float32 hor_velocity # The horizontal velocity in m/s
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float32 ver_velocity # The vertical velocity in m/s, positive is up
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char[9] callsign # The callsign, 8+null
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uint8 emitter_type # Type from ADSB_EMITTER_TYPE enum
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uint8 tslc # Time since last communication in seconds
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uint16 flags # Flags to indicate various statuses including valid data fields
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uint16 squawk # Squawk code
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uint32 ORB_QUEUE_LENGTH = 10
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