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Don't use ADSB messages with undefined fields in navigator (#8900)
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Don't use ADSB messages with undefined fields in navigator
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@svpcom @LorenzMeier
svpcom authored and LorenzMeier committed Feb 18, 2018
1 parent a1f6601 commit 1351625
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Showing 5 changed files with 61 additions and 6 deletions.
9 changes: 9 additions & 0 deletions msg/transponder_report.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -12,4 +12,13 @@ uint8 tslc # Time since last communication in seconds
uint16 flags # Flags to indicate various statuses including valid data fields
uint16 squawk # Squawk code

# ADSB flags
uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
uint16 PX4_ADSB_FLAGS_RETRANSLATE = 256

uint32 ORB_QUEUE_LENGTH = 10
17 changes: 16 additions & 1 deletion src/modules/mavlink/mavlink_messages.cpp
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Expand Up @@ -1346,6 +1346,8 @@ class MavlinkStreamADSBVehicle : public MavlinkStream
while (_pos_sub->update(&_pos_time, &pos)) {
mavlink_adsb_vehicle_t msg = {};

if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { continue; }

msg.ICAO_address = pos.ICAO_address;
msg.lat = pos.lat * 1e7;
msg.lon = pos.lon * 1e7;
Expand All @@ -1357,9 +1359,22 @@ class MavlinkStreamADSBVehicle : public MavlinkStream
memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
msg.emitter_type = pos.emitter_type;
msg.tslc = pos.tslc;
msg.flags = pos.flags;
msg.squawk = pos.squawk;

msg.flags = 0;

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }

mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
sent = true;
}
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15 changes: 14 additions & 1 deletion src/modules/mavlink/mavlink_receiver.cpp
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Expand Up @@ -2079,9 +2079,22 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
memcpy(&t.callsign[0], &adsb.callsign[0], sizeof(t.callsign));
t.emitter_type = adsb.emitter_type;
t.tslc = adsb.tslc;
t.flags = adsb.flags;
t.squawk = adsb.squawk;

t.flags = transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE; //Unset in receiver already broadcast its messages

if (adsb.flags & ADSB_FLAGS_VALID_COORDS) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; }

if (adsb.flags & ADSB_FLAGS_VALID_ALTITUDE) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; }

if (adsb.flags & ADSB_FLAGS_VALID_HEADING) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; }

if (adsb.flags & ADSB_FLAGS_VALID_VELOCITY) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; }

if (adsb.flags & ADSB_FLAGS_VALID_CALLSIGN) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; }

if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }

//PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc);

if (_transponder_report_pub == nullptr) {
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1 change: 1 addition & 0 deletions src/modules/navigator/navigator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,7 @@
*/
#define NAVIGATOR_MODE_ARRAY_SIZE 11


class Navigator : public control::SuperBlock
{
public:
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25 changes: 21 additions & 4 deletions src/modules/navigator/navigator_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -963,7 +963,10 @@ void Navigator::fake_traffic(const char *callsign, float distance, float directi
strncpy(&tr.callsign[0], callsign, sizeof(tr.callsign));
tr.emitter_type = 0; // Type from ADSB_EMITTER_TYPE enum
tr.tslc = 2; // Time since last communication in seconds
tr.flags = 0; // Flags to indicate various statuses including valid data fields
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
tr.squawk = 6667;

orb_advert_t h = orb_advertise_queue(ORB_ID(transponder_report), &tr, transponder_report_s::ORB_QUEUE_LENGTH);
Expand Down Expand Up @@ -993,10 +996,20 @@ void Navigator::check_traffic()
transponder_report_s tr;
orb_copy(ORB_ID(transponder_report), _traffic_sub, &tr);

uint16_t required_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;

if ((tr.flags & required_flags) != required_flags) {
orb_check(_traffic_sub, &changed);
continue;
}

float d_hor, d_vert;
get_distance_to_point_global_wgs84(lat, lon, alt,
tr.lat, tr.lon, tr.altitude, &d_hor, &d_vert);


// predict final altitude (positive is up) in prediction time frame
float end_alt = tr.altitude + (d_vert / tr.hor_velocity) * tr.ver_velocity;

Expand Down Expand Up @@ -1031,18 +1044,22 @@ void Navigator::check_traffic()

case 0: {
/* ignore */
PX4_WARN("TRAFFIC %s, hdg: %d", tr.callsign, traffic_direction);
PX4_WARN("TRAFFIC %s, hdg: %d", tr.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr.callsign :
"unknown",
traffic_direction);
break;
}

case 1: {
mavlink_log_critical(&_mavlink_log_pub, "WARNING TRAFFIC %s at heading %d, land immediately", tr.callsign,
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",
traffic_direction);
break;
}

case 2: {
mavlink_log_critical(&_mavlink_log_pub, "AVOIDING TRAFFIC %s heading %d, returning home", tr.callsign,
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",
traffic_direction);

// set the return altitude to minimum
Expand Down

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