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ADSB: Handle Missing Data
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@HTRamsey
HTRamsey committed Nov 22, 2024
1 parent fb11f31 commit 4005b34
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Showing 6 changed files with 167 additions and 68 deletions.
28 changes: 18 additions & 10 deletions src/ADSB/ADSB.h
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Expand Up @@ -38,24 +38,32 @@ Q_ENUM_NS(MessageType)

/// Enum for ADSB Info Types Available.
enum AvailableInfoType {
CallsignAvailable = 1 << 0,
LocationAvailable = 1 << 1,
AltitudeAvailable = 1 << 2,
HeadingAvailable = 1 << 3,
AlertAvailable = 1 << 4,
LocationAvailable = 1 << 0,
AltitudeAvailable = 1 << 1,
HeadingAvailable = 1 << 2,
VelocityAvailable = 1 << 3,
CallsignAvailable = 1 << 4,
SquawkAvailable = 1 << 5,
VerticalVelAvailable = 1 << 6,
AlertAvailable = 1 << 7
};
Q_FLAG_NS(AvailableInfoType)
Q_DECLARE_FLAGS(AvailableInfoTypes, AvailableInfoType)
Q_DECLARE_OPERATORS_FOR_FLAGS(AvailableInfoTypes)

struct VehicleInfo_t {
uint32_t icaoAddress;
AvailableInfoTypes availableFlags;
uint32_t icaoAddress = 0;
QString callsign;
QGeoCoordinate location;
double altitude; // TODO: Use Altitude in QGeoCoordinate?
double heading;
bool alert;
AvailableInfoTypes availableFlags;
double heading = 0.0;
uint16_t squawk = 0;
double velocity = 0.0;
double verticalVel = 0.0;
uint32_t lastContact = 0;
bool simulated = false;
bool baro = false;
bool alert = false;
};
} // namespace ADSB

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41 changes: 21 additions & 20 deletions src/ADSB/ADSBTCPLink.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -24,24 +24,26 @@ ADSBTCPLink::ADSBTCPLink(const QHostAddress &hostAddress, quint16 port, QObject
, _processTimer(new QTimer(this))
{
#ifdef QT_DEBUG
(void) connect(_socket, &QTcpSocket::stateChanged, this, [](QTcpSocket::SocketState state) {
switch (state) {
case QTcpSocket::UnconnectedState:
qCDebug(ADSBTCPLinkLog) << "ADSB Socket disconnected";
break;
case QTcpSocket::SocketState::ConnectingState:
qCDebug(ADSBTCPLinkLog) << "ADSB Socket connecting...";
break;
case QTcpSocket::SocketState::ConnectedState:
qCDebug(ADSBTCPLinkLog) << "ADSB Socket connected";
break;
case QTcpSocket::SocketState::ClosingState:
qCDebug(ADSBTCPLinkLog) << "ADSB Socket closing...";
break;
default:
break;
}
}, Qt::AutoConnection);
if (ADSBTCPLinkLog().isDebugEnabled()) {
(void) connect(_socket, &QTcpSocket::stateChanged, this, [](QTcpSocket::SocketState state) {
switch (state) {
case QTcpSocket::UnconnectedState:
qCDebug(ADSBTCPLinkLog) << "ADSB Socket disconnected";
break;
case QTcpSocket::SocketState::ConnectingState:
qCDebug(ADSBTCPLinkLog) << "ADSB Socket connecting...";
break;
case QTcpSocket::SocketState::ConnectedState:
qCDebug(ADSBTCPLinkLog) << "ADSB Socket connected";
break;
case QTcpSocket::SocketState::ClosingState:
qCDebug(ADSBTCPLinkLog) << "ADSB Socket closing...";
break;
default:
break;
}
}, Qt::AutoConnection);
}
#endif

(void) QObject::connect(_socket, &QTcpSocket::errorOccurred, this, [this](QTcpSocket::SocketError error) {
Expand Down Expand Up @@ -209,10 +211,9 @@ void ADSBTCPLink::_parseAndEmitLocation(ADSB::VehicleInfo_t &adsbInfo, const QSt
}

const double altitude = modeCAltitude * 0.3048;
const QGeoCoordinate location(lat, lon);
const QGeoCoordinate location(lat, lon, altitude);

adsbInfo.location = location;
adsbInfo.altitude = altitude;
adsbInfo.alert = (alert == 1);
adsbInfo.availableFlags = ADSB::LocationAvailable | ADSB::AltitudeAvailable | ADSB::AlertAvailable;

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44 changes: 33 additions & 11 deletions src/ADSB/ADSBVehicle.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -38,23 +38,17 @@ void ADSBVehicle::update(const ADSB::VehicleInfo_t &vehicleInfo)

qCDebug(ADSBVehicleLog) << "Updating" << QStringLiteral("%1 Flags: %2").arg(vehicleInfo.icaoAddress, 0, 16).arg(vehicleInfo.availableFlags, 0, 2);

if (vehicleInfo.availableFlags & ADSB::CallsignAvailable) {
if (vehicleInfo.callsign != callsign()) {
_info.callsign = vehicleInfo.callsign;
emit callsignChanged();
}
}

if (vehicleInfo.availableFlags & ADSB::LocationAvailable) {
if (vehicleInfo.location != coordinate()) {
_info.location = vehicleInfo.location;
if (!QGC::fuzzyCompare(vehicleInfo.location.latitude(), coordinate().latitude()) || !QGC::fuzzyCompare(vehicleInfo.location.longitude(), coordinate().longitude())) {
_info.location.setLatitude(vehicleInfo.location.latitude());
_info.location.setLongitude(vehicleInfo.location.longitude());
emit coordinateChanged();
}
}

if (vehicleInfo.availableFlags & ADSB::AltitudeAvailable) {
if (!QGC::fuzzyCompare(vehicleInfo.altitude, altitude())) {
_info.altitude = vehicleInfo.altitude;
if (!QGC::fuzzyCompare(vehicleInfo.location.altitude(), altitude())) {
_info.location.setAltitude(vehicleInfo.location.altitude());
emit altitudeChanged();
}
}
Expand All @@ -66,6 +60,34 @@ void ADSBVehicle::update(const ADSB::VehicleInfo_t &vehicleInfo)
}
}

if (vehicleInfo.availableFlags & ADSB::VelocityAvailable) {
if (!QGC::fuzzyCompare(vehicleInfo.velocity, velocity())) {
_info.velocity = vehicleInfo.velocity;
emit velocityChanged();
}
}

if (vehicleInfo.availableFlags & ADSB::CallsignAvailable) {
if (vehicleInfo.callsign != callsign()) {
_info.callsign = vehicleInfo.callsign;
emit callsignChanged();
}
}

if (vehicleInfo.availableFlags & ADSB::SquawkAvailable) {
if (!QGC::fuzzyCompare(vehicleInfo.velocity, squawk())) {
_info.squawk = vehicleInfo.squawk;
emit squawkChanged();
}
}

if (vehicleInfo.availableFlags & ADSB::VerticalVelAvailable) {
if (!QGC::fuzzyCompare(vehicleInfo.verticalVel, verticalVel())) {
_info.verticalVel = vehicleInfo.verticalVel;
emit verticalVelChanged();
}
}

if (vehicleInfo.availableFlags & ADSB::AlertAvailable) {
if (vehicleInfo.alert != alert()) {
_info.alert = vehicleInfo.alert;
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23 changes: 16 additions & 7 deletions src/ADSB/ADSBVehicle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,12 +25,15 @@ class ADSBVehicle : public QObject
Q_OBJECT
QML_ELEMENT

Q_PROPERTY(uint icaoAddress READ icaoAddress CONSTANT)
Q_PROPERTY(QString callsign READ callsign NOTIFY callsignChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
Q_PROPERTY(double altitude READ altitude NOTIFY altitudeChanged)
Q_PROPERTY(double heading READ heading NOTIFY headingChanged)
Q_PROPERTY(bool alert READ alert NOTIFY alertChanged)
Q_PROPERTY(uint icaoAddress READ icaoAddress CONSTANT)
Q_PROPERTY(QString callsign READ callsign NOTIFY callsignChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
Q_PROPERTY(double altitude READ altitude NOTIFY altitudeChanged)
Q_PROPERTY(double heading READ heading NOTIFY headingChanged)
Q_PROPERTY(double velocity READ velocity NOTIFY velocityChanged)
Q_PROPERTY(double verticalVel READ verticalVel NOTIFY verticalVelChanged)
Q_PROPERTY(uint16_t squawk READ squawk NOTIFY squawkChanged)
Q_PROPERTY(bool alert READ alert NOTIFY alertChanged)

public:
explicit ADSBVehicle(const ADSB::VehicleInfo_t &vehicleInfo, QObject *parent = nullptr);
Expand All @@ -39,8 +42,11 @@ class ADSBVehicle : public QObject
uint32_t icaoAddress() const { return _info.icaoAddress; }
QString callsign() const { return _info.callsign; }
QGeoCoordinate coordinate() const { return _info.location; }
double altitude() const { return _info.altitude; }
double altitude() const { return _info.location.altitude(); }
double heading() const { return _info.heading; }
double velocity() const { return _info.velocity; }
double verticalVel() const { return _info.verticalVel; }
uint16_t squawk() const { return _info.squawk; }
bool alert() const { return _info.alert; }
bool expired() const { return _lastUpdateTimer.hasExpired(_expirationTimeoutMs); }
void update(const ADSB::VehicleInfo_t &vehicleInfo);
Expand All @@ -50,6 +56,9 @@ class ADSBVehicle : public QObject
void callsignChanged();
void altitudeChanged();
void headingChanged();
void velocityChanged();
void verticalVelChanged();
void squawkChanged();
void alertChanged();

private:
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93 changes: 77 additions & 16 deletions src/Vehicle/Vehicle.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3292,33 +3292,94 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t &message)
mavlink_adsb_vehicle_t adsbVehicleMsg;
mavlink_msg_adsb_vehicle_decode(&message, &adsbVehicleMsg);

static constexpr int maxTimeSinceLastSeen = 15;
static constexpr uint8_t maxTimeSinceLastSeen = 15;

if ((adsbVehicleMsg.flags & ADSB_FLAGS_VALID_COORDS) && (adsbVehicleMsg.tslc <= maxTimeSinceLastSeen)) {
ADSB::VehicleInfo_t vehicleInfo;
if (adsbVehicleMsg.tslc > maxTimeSinceLastSeen) {
return;
}

ADSB::VehicleInfo_t vehicleInfo;

vehicleInfo.availableFlags = ADSB::AvailableInfoTypes::fromInt(0);

vehicleInfo.availableFlags = ADSB::AvailableInfoTypes::fromInt(0);
vehicleInfo.icaoAddress = adsbVehicleMsg.ICAO_address;
vehicleInfo.icaoAddress = adsbVehicleMsg.ICAO_address;
vehicleInfo.lastContact = adsbVehicleMsg.tslc;

if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_COORDS) {
vehicleInfo.availableFlags |= ADSB::LocationAvailable;
vehicleInfo.location.setLatitude(adsbVehicleMsg.lat / 1e7);
vehicleInfo.location.setLongitude(adsbVehicleMsg.lon / 1e7);
vehicleInfo.availableFlags |= ADSB::LocationAvailable;
}

if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_ALTITUDE) {
vehicleInfo.availableFlags |= ADSB::AltitudeAvailable;
vehicleInfo.location.setAltitude(adsbVehicleMsg.altitude / 1e3);
}

if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_HEADING) {
vehicleInfo.availableFlags |= ADSB::HeadingAvailable;
vehicleInfo.heading = adsbVehicleMsg.heading / 1e2;
}

if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_VELOCITY) {
vehicleInfo.availableFlags |= ADSB::VelocityAvailable;
vehicleInfo.velocity = adsbVehicleMsg.hor_velocity / 1e2;
}

vehicleInfo.callsign = adsbVehicleMsg.callsign;
if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_CALLSIGN) {
vehicleInfo.availableFlags |= ADSB::CallsignAvailable;
vehicleInfo.callsign = QString::fromLatin1(adsbVehicleMsg.callsign, sizeof(adsbVehicleMsg.callsign));
}

if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_ALTITUDE) {
vehicleInfo.altitude = adsbVehicleMsg.altitude / 1e3;
vehicleInfo.availableFlags |= ADSB::AltitudeAvailable;
}
if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_SQUAWK) {
vehicleInfo.availableFlags |= ADSB::SquawkAvailable;
vehicleInfo.squawk = adsbVehicleMsg.squawk;
}

if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_HEADING) {
vehicleInfo.heading = adsbVehicleMsg.heading / 1e2;
vehicleInfo.availableFlags |= ADSB::HeadingAvailable;
}
if (adsbVehicleMsg.flags & ADSB_FLAGS_SIMULATED) {
vehicleInfo.simulated = true;
}

if (adsbVehicleMsg.flags & ADSB_FLAGS_VERTICAL_VELOCITY_VALID) {
vehicleInfo.availableFlags |= ADSB::VerticalVelAvailable;
vehicleInfo.verticalVel = adsbVehicleMsg.ver_velocity;
}

(void) QMetaObject::invokeMethod(ADSBVehicleManager::instance(), "adsbVehicleUpdate", Qt::AutoConnection, vehicleInfo);
if (adsbVehicleMsg.flags & ADSB_FLAGS_BARO_VALID) {
vehicleInfo.baro = true;
}

if (adsbVehicleMsg.flags & ADSB_FLAGS_SOURCE_UAT) {

}

/*adsbVehicleMsg.altitude_type
ADSB_ALTITUDE_TYPE_PRESSURE_QNH
ADSB_ALTITUDE_TYPE_GEOMETRIC
adsbVehicleMsg.emitter_type
ADSB_EMITTER_TYPE_NO_INFO
ADSB_EMITTER_TYPE_LIGHT
ADSB_EMITTER_TYPE_SMALL
ADSB_EMITTER_TYPE_LARGE
ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
ADSB_EMITTER_TYPE_HEAVY
ADSB_EMITTER_TYPE_HIGHLY_MANUV
ADSB_EMITTER_TYPE_ROTOCRAFT
ADSB_EMITTER_TYPE_UNASSIGNED
ADSB_EMITTER_TYPE_GLIDER
ADSB_EMITTER_TYPE_LIGHTER_AIR
ADSB_EMITTER_TYPE_PARACHUTE
ADSB_EMITTER_TYPE_ULTRA_LIGHT
ADSB_EMITTER_TYPE_UNASSIGNED2
ADSB_EMITTER_TYPE_UAV
ADSB_EMITTER_TYPE_SPACE
ADSB_EMITTER_TYPE_UNASSGINED3
ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
ADSB_EMITTER_TYPE_SERVICE_SURFACE
ADSB_EMITTER_TYPE_POINT_OBSTACLE*/

(void) QMetaObject::invokeMethod(ADSBVehicleManager::instance(), "adsbVehicleUpdate", Qt::AutoConnection, vehicleInfo);
}

void Vehicle::_updateDistanceHeadingToHome()
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6 changes: 2 additions & 4 deletions test/ADSB/ADSBTest.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,7 @@ void ADSBTest::_adsbVehicleTest()
ADSB::VehicleInfo_t vehicleInfo;
vehicleInfo.icaoAddress = 1;
vehicleInfo.callsign = QStringLiteral("1");
vehicleInfo.location = QGeoCoordinate(1., 1.);
vehicleInfo.altitude = 1.;
vehicleInfo.location = QGeoCoordinate(1., 1., 1.);
vehicleInfo.heading = 1.;
vehicleInfo.alert = false;
vehicleInfo.availableFlags = ADSB::CallsignAvailable;
Expand Down Expand Up @@ -79,8 +78,7 @@ void ADSBTest::_adsbVehicleManagerTest()
ADSB::VehicleInfo_t vehicleInfo;
vehicleInfo.icaoAddress = 1;
vehicleInfo.callsign = QStringLiteral("1");
vehicleInfo.location = QGeoCoordinate(1., 1.);
vehicleInfo.altitude = 1.;
vehicleInfo.location = QGeoCoordinate(1., 1., 1.);
vehicleInfo.heading = 1.;
vehicleInfo.alert = false;
vehicleInfo.availableFlags = ADSB::LocationAvailable;
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