ADSB support for inav over mavlink

Author: error414

.gitignore

@@ -35,3 +35,4 @@ make/local.mk
 launch.json
 .vscode/tasks.json
 .vscode/c_cpp_properties.json
+/cmake-build-debug/

docs/Settings.md

@@ -182,6 +182,36 @@ Calculated value after '6 position avanced calibration'. See Wiki page.
 
 ---
 
+### adsb_distance_warning
+
+Distance in meters of ADSB aircraft that is displayed
+
+| Default | Min | Max |
+| --- |-----| --- |
+| 20000 | 1   | 64000 |
+
+---
+
+### adsb_distance_alert
+
+Distance inside which ADSB data flashes for proximity warning
+
+| Default | Min | Max |
+| --- |---| --- |
+| 3000 | 1 | 64000 |
+
+---
+
+### adsb_ignore_plane_above_me_limit
+
+Ignore adsb planes above, limit, 0 disabled (meters)
+
+| Default | Min | Max |
+|---------|-----| --- |
+| 0       | 0   | 64000 |
+
+---
+
 ### ahrs_acc_ignore_rate
 
 Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy

src/main/CMakeLists.txt

@@ -342,6 +342,7 @@ main_sources(COMMON_SRC
     flight/dynamic_lpf.c
     flight/dynamic_lpf.h
 
+    io/adsb.c
     io/beeper.c
     io/beeper.h
     io/servo_sbus.c

src/main/drivers/osd_symbols.h

@@ -179,6 +179,8 @@
 #define SYM_TERRAIN_FOLLOWING       0xFB  // 251 Terrain following (also Alt adjust)
 #define SYM_CROSS_TRACK_ERROR       0xFC  // 252 Cross track error
 
+#define SYM_ADSB                    0xFD // 253 ADSB
+
 #define SYM_LOGO_START              0x101 // 257 to 297, INAV logo
 #define SYM_LOGO_WIDTH              10
 #define SYM_LOGO_HEIGHT             4

src/main/fc/cli.c

@@ -85,6 +85,7 @@ bool cliMode = false;
 #include "flight/pid.h"
 #include "flight/servos.h"
 
+#include "io/adsb.h"
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/beeper.h"
 #include "io/flashfs.h"
@@ -2690,6 +2691,44 @@ static void cliFeature(char *cmdline)
     }
 }
 
+#ifdef USE_ADSB
+static void cliAdsbVehicles(char *cmdLine)
+{
+    UNUSED(cmdLine);
+
+    adsbVehicle_t* adsbVehicle;
+    adsbVehicle_t* adsbTheClosestVehicle = findVehicleClosest();
+    cliPrintf("%-10s%-10s%-10s%-10s%-10s%-16s%-16s%-10s%-14s%-10s%-20s\n", "#", "callsign", "icao", "lat", "lon", " alt (m)", " dist (km)", "dir", "vert dist (m)", "tslc", "ttl", "note");
+
+    for(uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++){
+        adsbVehicle = findVehicle(i);
+        if(adsbVehicle != NULL && adsbVehicle->ttl > 0){
+
+            cliPrintf("%-10d%-10s%-10d%-10u%-10d%-16f%-16f%-10d%-14f%-10d%-10d%-20s \n",
+                      i,
+                      adsbVehicle->vehicleValues.callsign,
+                      adsbVehicle->vehicleValues.icao,
+                      adsbVehicle->vehicleValues.lat,
+                      adsbVehicle->vehicleValues.lon,
+                      (double)CENTIMETERS_TO_METERS(adsbVehicle->vehicleValues.alt),
+                      (double)CENTIMETERS_TO_METERS(adsbVehicle->calculatedVehicleValues.dist) / 1000,
+                      adsbVehicle->calculatedVehicleValues.dir,
+                      (double)CENTIMETERS_TO_METERS(adsbVehicle->calculatedVehicleValues.verticalDistance),
+                      adsbVehicle->vehicleValues.tslc,
+                      adsbVehicle->ttl,
+                      adsbTheClosestVehicle != NULL && adsbTheClosestVehicle->vehicleValues.icao == adsbVehicle->vehicleValues.icao ? "the closest": ""
+            );
+        }
+    }
+
+    cliPrintf("Messages count from device: %d\n", getAdsbStatus()->vehiclesMessagesTotal);
+
+    if(!enviromentOkForCalculatingDistaceBearing()){
+        cliPrintErrorLine("No GPS FIX, can't calculate distance and direction");
+    }
+}
+#endif
+
 #ifdef USE_BLACKBOX
 static void printBlackbox(uint8_t dumpMask, const blackboxConfig_t *config, const blackboxConfig_t *configDefault)
 {
@@ -3997,6 +4036,9 @@ const clicmd_t cmdTable[] = {
 #if defined(USE_BOOTLOG)
     CLI_COMMAND_DEF("bootlog", "show boot events", NULL, cliBootlog),
 #endif
+#if defined(USE_ADSB)
+    CLI_COMMAND_DEF("adsb_vehicles", "the closest vehicle", NULL, cliAdsbVehicles),
+#endif
 #ifdef USE_LED_STRIP
     CLI_COMMAND_DEF("color", "configure colors", NULL, cliColor),
     CLI_COMMAND_DEF("mode_color", "configure mode and special colors", NULL, cliModeColor),

src/main/fc/fc_msp.c

@@ -82,6 +82,7 @@
 #include "config/config_eeprom.h"
 #include "config/feature.h"
 
+#include "io/adsb.h"
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
@@ -924,6 +925,33 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, gpsSol.epv);
         break;
 #endif
+    case MSP2_ADSB_VEHICLE_LIST:
+#ifdef USE_ADSB
+        sbufWriteU8(dst, MAX_ADSB_VEHICLES);
+        sbufWriteU8(dst, ADSB_CALL_SIGN_MAX_LENGTH);
+
+        for(uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++){
+
+            adsbVehicle_t *adsbVehicle = findVehicle(i);
+
+            for(uint8_t ii = 0; ii < ADSB_CALL_SIGN_MAX_LENGTH; ii++){
+                sbufWriteU8(dst, adsbVehicle->vehicleValues.callsign[ii]);
+            }
+
+            sbufWriteU32(dst, adsbVehicle->vehicleValues.icao);
+            sbufWriteU32(dst, adsbVehicle->vehicleValues.lat);
+            sbufWriteU32(dst, adsbVehicle->vehicleValues.lon);
+            sbufWriteU32(dst, adsbVehicle->vehicleValues.alt);
+            sbufWriteU16(dst, (uint16_t)CENTIDEGREES_TO_DEGREES(adsbVehicle->vehicleValues.heading));
+            sbufWriteU8(dst,  adsbVehicle->vehicleValues.tslc);
+            sbufWriteU8(dst,  adsbVehicle->vehicleValues.emitterType);
+            sbufWriteU8(dst,  adsbVehicle->ttl);
+        }
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+#endif
+            break;
     case MSP_DEBUG:
         // output some useful QA statistics
         // debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000);         // XX0YY [crystal clock : core clock]
@@ -1494,6 +1522,13 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 #else
         sbufWriteU16(dst, 0);
         sbufWriteU16(dst, 0);
+#endif
+#ifdef USE_ADSB
+        sbufWriteU16(dst, osdConfig()->adsb_distance_warning);
+        sbufWriteU16(dst, osdConfig()->adsb_distance_alert);
+#else
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
 #endif
         break;
 

src/main/fc/fc_tasks.c

@@ -68,6 +68,7 @@
 #include "io/osd_dji_hd.h"
 #include "io/displayport_msp_osd.h"
 #include "io/servo_sbus.h"
+#include "io/adsb.h"
 
 #include "msp/msp_serial.h"
 
@@ -180,6 +181,14 @@ void taskUpdateCompass(timeUs_t currentTimeUs)
 }
 #endif
 
+#ifdef USE_ADSB
+void taskAdsb(timeUs_t currentTimeUs)
+{
+    UNUSED(currentTimeUs);
+    adsbTtlClean(currentTimeUs);
+}
+#endif
+
 #ifdef USE_BARO
 void taskUpdateBaro(timeUs_t currentTimeUs)
 {
@@ -359,6 +368,9 @@ void fcTasksInit(void)
 #ifdef USE_PITOT
     setTaskEnabled(TASK_PITOT, sensors(SENSOR_PITOT));
 #endif
+#ifdef USE_ADSB
+    setTaskEnabled(TASK_ADSB, true);
+#endif
 #ifdef USE_RANGEFINDER
     setTaskEnabled(TASK_RANGEFINDER, sensors(SENSOR_RANGEFINDER));
 #endif
@@ -490,6 +502,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
     },
 #endif
 
+#ifdef USE_ADSB
+        [TASK_ADSB] = {
+        .taskName = "ADSB",
+        .taskFunc = taskAdsb,
+        .desiredPeriod = TASK_PERIOD_HZ(1),      // ADSB is updated at 1 Hz
+        .staticPriority = TASK_PRIORITY_IDLE,
+    },
+#endif
+
 #ifdef USE_BARO
     [TASK_BARO] = {
         .taskName = "BARO",

src/main/fc/settings.yaml

@@ -3359,6 +3359,31 @@ groups:
         max: 11
         default_value: 9
 
+      - name: osd_adsb_distance_warning
+        description: "Distance in meters of ADSB aircraft that is displayed"
+        default_value: 20000
+        condition: USE_ADSB
+        field: adsb_distance_warning
+        min: 1
+        max: 64000
+        type: uint16_t
+      - name: osd_adsb_distance_alert
+        description: "Distance inside which ADSB data flashes for proximity warning"
+        default_value: 3000
+        condition: USE_ADSB
+        field: adsb_distance_alert
+        min: 1
+        max: 64000
+        type: uint16_t
+      - name: osd_adsb_ignore_plane_above_me_limit
+        description: "Ignore adsb planes above, limit, 0 disabled (meters)"
+        default_value: 0
+        condition: USE_ADSB
+        field: adsb_ignore_plane_above_me_limit
+        min: 0
+        max: 64000
+        type: uint16_t
+
       - name: osd_estimations_wind_compensation
         description: "Use wind estimation for remaining flight time/distance estimation"
         default_value: ON