ADSB support for inav over mavlink

iNavFlight · Dec 17, 2023 · 874407b · 874407b
1 parent 0535617
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diff --git a/.gitignore b/.gitignore
@@ -35,3 +35,4 @@ make/local.mk
 launch.json
 .vscode/tasks.json
 .vscode/c_cpp_properties.json
+/cmake-build-debug/
diff --git a/docs/ADSB.md b/docs/ADSB.md
@@ -0,0 +1,17 @@
+# ADS-B
+
+[Automatic Dependent Surveillance Broadcast](https://en.wikipedia.org/wiki/Automatic_Dependent_Surveillance%E2%80%93Broadcast)
+is an air traffic surveillance technology that enables aircraft to be accurately tracked by air traffic controllers and other pilots without the need for conventional radar.
+
+## Current state
+
+OSD can be configured to shows the closest aircraft.
+
+## Hardware
+
+All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/messages/common.html#ADSB_VEHICLE) message are supported 
+
+* [PINGRX](https://uavionix.com/product/pingrx-pro/) (not tested)
+* [TT-SC1](https://www.aerobits.pl/product/aero/) (tested)
+
+
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -4002,6 +4002,36 @@ _// TODO_
 
 ---
 
+### osd_adsb_distance_alert
+
+Distance inside which ADSB data flashes for proximity warning
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 3000 | 1 | 64000 |
+
+---
+
+### osd_adsb_distance_warning
+
+Distance in meters of ADSB aircraft that is displayed
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 20000 | 1 | 64000 |
+
+---
+
+### osd_adsb_ignore_plane_above_me_limit
+
+Ignore adsb planes above, limit, 0 disabled (meters)
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 64000 |
+
+---
+
 ### osd_ahi_bordered
 
 Shows a border/corners around the AHI region (pixel OSD only)

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
@@ -344,6 +344,7 @@ main_sources(COMMON_SRC
     flight/ez_tune.c
     flight/ez_tune.h
 
+    io/adsb.c
     io/beeper.c
     io/beeper.h
     io/servo_sbus.c

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
@@ -180,6 +180,8 @@
 #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

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -83,6 +83,7 @@
 #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"
@@ -948,6 +949,33 @@ 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]
@@ -1518,6 +1546,13 @@ 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;
 

diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
@@ -69,6 +69,7 @@
 #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"
 
@@ -181,6 +182,14 @@ 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)
 {
@@ -360,6 +369,9 @@ 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
@@ -495,6 +507,15 @@ 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",

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -3444,6 +3444,31 @@ 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