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AP_ADSB: Set config on uAvionix Transponders like Ping200X #28740

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AP_ADSB: Set config on uAvionix Transponders like Ping200X #28740

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af37c6b
AP_ADSB: refactor a table
magicrub Nov 28, 2024
07bd906
AP_ADSB: add UDP_SET_CONFIG
magicrub Nov 19, 2024
d18ac5f
Tools: add ADSB UCP set config build option
magicrub Nov 25, 2024
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1 change: 1 addition & 0 deletions Tools/scripts/build_options.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ def config_option(self):
Feature('Ident', 'ADSB_SAGETECH_MXS', 'HAL_ADSB_SAGETECH_MXS_ENABLED', 'Enable Sagetech MXS ADSB', 0, 'ADSB'),
Feature('Ident', 'ADSB_UAVIONIX', 'HAL_ADSB_UAVIONIX_MAVLINK_ENABLED', 'Enable UAvionix ADSB', 0, 'ADSB'),
Feature('Ident', 'ADSB_UAVIONX_UCP', 'HAL_ADSB_UCP_ENABLED', 'Enable uAvionix UCP ADSB', 0 , 'ADSB'),
Feature('Ident', 'ADSB_UAVIONIX_SET_CONFIG', 'HAL_ADSB_UCP_SET_CONFIG', 'Enable uAvionix set static config', 0 , 'ADSB'),
Feature('Ident', 'AIS', 'AP_AIS_ENABLED', 'Enable AIS', 0, None),
Feature('Ident', 'OpenDroneID', 'AP_OPENDRONEID_ENABLED', 'Enable OpenDroneID (Remote ID)', 0, None),

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1 change: 1 addition & 0 deletions Tools/scripts/extract_features.py
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Expand Up @@ -52,6 +52,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
('HAL_ADSB_ENABLED', 'AP_ADSB::AP_ADSB',),
('HAL_ADSB_{type}_ENABLED', r'AP_ADSB_(?P<type>.*)::update',),
('HAL_ADSB_UCP_ENABLED', 'AP_ADSB_uAvionix_UCP::update',),
('HAL_ADSB_UCP_SET_CONFIG', 'AP_ADSB_uAvionix_UCP::update_Transponder_Config',),

('AP_COMPASS_{type}_ENABLED', r'AP_Compass_(?P<type>.*)::read\b',),
('AP_COMPASS_ICM20948_ENABLED', r'AP_Compass_AK09916::probe_ICM20948',),
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20 changes: 20 additions & 0 deletions libraries/AP_ADSB/AP_ADSB.cpp
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Expand Up @@ -958,6 +958,26 @@ bool AP_ADSB::Loc::vertical_accuracy(float &vacc) const
return true;
}

uint8_t AP_ADSB::convert_maxknots_to_enum(const float maxAircraftSpeed_knots)
{
if (maxAircraftSpeed_knots <= 0) {
// not set or unknown. no bits set
return 0;
} else if (maxAircraftSpeed_knots <= 75) {
return 1;
} else if (maxAircraftSpeed_knots <= 150) {
return 2;
} else if (maxAircraftSpeed_knots <= 300) {
return 3;
} else if (maxAircraftSpeed_knots <= 600) {
return 4;
} else if (maxAircraftSpeed_knots <= 1200) {
return 5;
} else {
return 6;
}
}

AP_ADSB *AP::ADSB()
{
return AP_ADSB::get_singleton();
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2 changes: 2 additions & 0 deletions libraries/AP_ADSB/AP_ADSB.h
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Expand Up @@ -207,6 +207,8 @@ class AP_ADSB {
// confirm a value is a valid callsign
static bool is_valid_callsign(uint16_t octal) WARN_IF_UNUSED;

static uint8_t convert_maxknots_to_enum(const float maxAircraftSpeed_knots);

// Convert base 8 or 16 to decimal. Used to convert an octal/hexadecimal value
// stored on a GCS as a string field in different format, but then transmitted
// over mavlink as a float which is always a decimal.
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6 changes: 3 additions & 3 deletions libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
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Expand Up @@ -120,7 +120,7 @@ void AP_ADSB_Sagetech_MXS::update()
(mxs_state.inst.icao != (uint32_t)_frontend.out_state.cfg.ICAO_id_param.get() ||
mxs_state.inst.emitter != convert_emitter_type_to_sg(_frontend.out_state.cfg.emitterType.get()) ||
mxs_state.inst.size != _frontend.out_state.cfg.lengthWidth.get() ||
mxs_state.inst.maxSpeed != convert_airspeed_knots_to_sg(_frontend.out_state.cfg.maxAircraftSpeed_knots)
mxs_state.inst.maxSpeed != (sg_airspeed_t)AP_ADSB::convert_maxknots_to_enum(_frontend.out_state.cfg.maxAircraftSpeed_knots)
)) {
last.packet_initialize_ms = now_ms;
send_install_msg();
Expand Down Expand Up @@ -358,7 +358,7 @@ void AP_ADSB_Sagetech_MXS::auto_config_installation()
mxs_state.inst.sda = sg_sda_t::sdaUnknown;
mxs_state.inst.emitter = convert_emitter_type_to_sg(_frontend.out_state.cfg.emitterType.get());
mxs_state.inst.size = (sg_size_t)_frontend.out_state.cfg.lengthWidth.get();
mxs_state.inst.maxSpeed = convert_airspeed_knots_to_sg(_frontend.out_state.cfg.maxAircraftSpeed_knots);
mxs_state.inst.maxSpeed = (sg_airspeed_t)AP_ADSB::convert_maxknots_to_enum(_frontend.out_state.cfg.maxAircraftSpeed_knots);
mxs_state.inst.altOffset = 0; // Alt encoder offset is legacy field that should always be 0.
mxs_state.inst.antenna = sg_antenna_t::antBottom;

Expand Down Expand Up @@ -511,7 +511,7 @@ void AP_ADSB_Sagetech_MXS::send_install_msg()
mxs_state.inst.icao = (uint32_t)_frontend.out_state.cfg.ICAO_id_param.get();
mxs_state.inst.emitter = convert_emitter_type_to_sg(_frontend.out_state.cfg.emitterType.get());
mxs_state.inst.size = (sg_size_t)_frontend.out_state.cfg.lengthWidth.get();
mxs_state.inst.maxSpeed = convert_airspeed_knots_to_sg(_frontend.out_state.cfg.maxAircraftSpeed_knots);
mxs_state.inst.maxSpeed = (sg_airspeed_t)AP_ADSB::convert_maxknots_to_enum(_frontend.out_state.cfg.maxAircraftSpeed_knots);
mxs_state.inst.antenna = sg_antenna_t::antBottom;

last.msg.type = SG_MSG_TYPE_HOST_INSTALL;
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6 changes: 6 additions & 0 deletions libraries/AP_ADSB/AP_ADSB_config.h
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Expand Up @@ -24,6 +24,12 @@
#define HAL_ADSB_UCP_ENABLED HAL_ADSB_BACKEND_DEFAULT_ENABLED
#endif

#ifndef HAL_ADSB_UCP_SET_CONFIG
// NOTE: this feature is disabled by default because it is only meant to be used only by certified aircraft maintenance
// personnel and not by your typical pilot. If used incorrectly this may void the TSO certification of the hardware
#define HAL_ADSB_UCP_SET_CONFIG 0
#endif

#ifndef HAL_ADSB_SAGETECH_MXS_ENABLED
// this feature is only enabled by default by select hardware
#define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_BACKEND_DEFAULT_ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_SITL
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17 changes: 1 addition & 16 deletions libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp
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Expand Up @@ -177,22 +177,7 @@ uint8_t AP_ADSB_uAvionix_MAVLink::get_encoded_callsign_null_char()

uint8_t encoded_null = 0;

if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 0) {
// not set or unknown. no bits set
} else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 75) {
encoded_null |= 0x01;
} else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 150) {
encoded_null |= 0x02;
} else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 300) {
encoded_null |= 0x03;
} else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 600) {
encoded_null |= 0x04;
} else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 1200) {
encoded_null |= 0x05;
} else {
encoded_null |= 0x06;
}

encoded_null = AP_ADSB::convert_maxknots_to_enum(_frontend.out_state.cfg.maxAircraftSpeed_knots);

if (_frontend.out_state.cfg.rf_capable & ADSB_BITBASK_RF_CAPABILITIES_1090ES_IN) {
encoded_null |= 0x10;
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