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Add Heading to ADSB and Map Updating

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This commit is contained in:
Joel Wetzell
2020-07-24 16:09:21 -05:00
parent f21e26eaa3
commit f08949acd7
8 changed files with 87 additions and 18 deletions
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47
firmware/common/adsb.cpp
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@@ -300,8 +300,8 @@ void encode_frame_velo(ADSBFrame& frame, const uint32_t ICAO_address, const uint
v_rate_coded = (v_rate / 64) + 1;
velo_ew_abs = abs(velo_ew);
velo_ns_abs = abs(velo_ns);
velo_ew_abs = abs(velo_ew) + 1;
velo_ns_abs = abs(velo_ns) + 1;
v_rate_coded_abs = abs(v_rate_coded);
make_frame_adsb(frame, ICAO_address);
@@ -317,4 +317,47 @@ void encode_frame_velo(ADSBFrame& frame, const uint32_t ICAO_address, const uint
frame.make_CRC();
}
// Decoding method from dump1090
adsb_vel decode_frame_velo(ADSBFrame& frame){
adsb_vel velo {false, 0, 0};
uint8_t * frame_data = frame.get_raw_data();
uint8_t velo_type = frame.get_msg_sub();
if(velo_type >= 1 && velo_type <= 4){ //vertical rate is always present
velo.v_rate = (((frame_data[8] & 0x07 ) << 6) | ((frame_data[9]) >> 2) - 1) * 64;
if((frame_data[8] & 0x8) >> 3) velo.v_rate *= -1; //check v_rate sign
}
if(velo_type == 1 || velo_type == 2){ //Ground Speed
int32_t velo_ew = (((frame_data[5] & 0x03) << 8) | frame_data[6]) - 1;
int32_t velo_ns = ((frame_data[7] & 0x7f) << 3) | ((frame_data[8]) >> 5) - 1;
if (velo_type == 2){ // supersonic indicator so multiply by 4
velo_ew = velo_ew << 2;
velo_ns = velo_ns << 2;
}
if((frame_data[5]&4) >> 2) velo_ew *= -1; //check ew direction sign
if((frame_data[7]&0x80) >> 7) velo_ns *= -1; //check ns direction sign
velo.speed = sqrt(velo_ns*velo_ns + velo_ew*velo_ew);
if(velo.speed){
//calculate heading in degrees from ew/ns velocities
velo.heading = (uint16_t)(atan2(velo_ew,velo_ns) * 180.0 / pi);
// We don't want negative values but a 0-360 scale.
if (velo.heading < 0) velo.heading += 360.0;
}
}else if(velo_type == 3 || velo_type == 4){ //Airspeed
velo.valid = frame_data[5] & (1<<2);
velo.heading = ((((frame_data[5] & 0x03)<<8) | frame_data[6]) * 45) << 7;
}
return velo;
}
} /* namespace adsb */