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AP_ADSB: add ability to force Mode3AC Only
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@magicrub
magicrub committed Nov 25, 2024
1 parent 4b040ee commit 63f21c7
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Showing 5 changed files with 37 additions and 22 deletions.
27 changes: 27 additions & 0 deletions libraries/AP_ADSB/AP_ADSB.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -176,6 +176,13 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
// @User: Advanced
AP_GROUPINFO("OPTIONS", 15, AP_ADSB, _options, 0),

// @Param: MODE3_ONLY
// @DisplayName: Transmit in Mode 3A/C only
// @Description: Transmit in traditional Mode 3A/C only and inhibit Mode-S and ES (ADSB) transmissions. This is useful when an ATC (Air Traffic control) requests it in certain scenarios.
// @Values: 0:Transmit all Modes (3A 3C S ES), 1:Transmit Mode 3A/C only (no ADSB).
// @User: Advanced
AP_GROUPINFO("MODE3_ONLY", 16, AP_ADSB, out_state.cfg.mode3AC_only, 0),

AP_GROUPEND
};

Expand Down Expand Up @@ -958,6 +965,26 @@ 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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3 changes: 3 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.
Expand Down Expand Up @@ -311,6 +313,7 @@ class AP_ADSB {
float maxAircraftSpeed_knots;
AP_Int8 rf_capable;
bool was_set_externally;
AP_Int8 mode3AC_only;
} cfg;

struct {
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8 changes: 4 additions & 4 deletions libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
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Original file line number Diff line number Diff line change
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 @@ -150,7 +150,7 @@ void AP_ADSB_Sagetech_MXS::update()
last.operating_rf_select = _frontend.out_state.cfg.rfSelect;
last.modeAEnabled = _frontend.out_state.ctrl.modeAEnabled;
last.modeCEnabled = _frontend.out_state.ctrl.modeCEnabled;
last.modeSEnabled = _frontend.out_state.ctrl.modeSEnabled;
last.modeSEnabled = _frontend.out_state.cfg.mode3AC_only ? 0 : _frontend.out_state.ctrl.modeSEnabled;

last.operating_alt = _frontend._my_loc.alt;
last.packet_Operating_ms = now_ms;
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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17 changes: 1 addition & 16 deletions libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp
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Original file line number Diff line number Diff line change
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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4 changes: 2 additions & 2 deletions libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -411,8 +411,8 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control()
_frontend.out_state.ctrl.identActive = false; // only send identButtonActive once per request
msg.modeAEnabled = _frontend.out_state.ctrl.modeAEnabled;
msg.modeCEnabled = _frontend.out_state.ctrl.modeCEnabled;
msg.modeSEnabled = _frontend.out_state.ctrl.modeSEnabled;
msg.es1090TxEnabled = _frontend.out_state.ctrl.es1090TxEnabled;
msg.modeSEnabled = _frontend.out_state.cfg.mode3AC_only ? 0 : _frontend.out_state.ctrl.modeSEnabled;
msg.es1090TxEnabled = _frontend.out_state.cfg.mode3AC_only ? 0 : _frontend.out_state.ctrl.es1090TxEnabled;

// if enabled via param ADSB_OPTIONS, use squawk 7400 while in any Loss-Comms related failsafe
// https://www.faa.gov/documentLibrary/media/Notice/N_JO_7110.724_5-2-9_UAS_Lost_Link_2.pdf
Expand Down

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