kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
Add turn rate and update the pressure altitude encoding for FANET
Pawel Jalocha
rodzic
960ef5e9b9
commit
744020b31c
167
main/fanet.h
167
main/fanet.h
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@ -73,16 +73,16 @@ class FANET_Packet
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// xif(Ofs<MaxBytes) Byte[Ofs++]=0;
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Len=Ofs; }
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static float FloatCoord(int32_t Coord) // convert from cordic units to float degrees
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static float FloatCoord(int32_t Coord) // convert from FANET cordic units to float degrees
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{ // const float Conv = 90.0/0x40000000; // conversion factor (exact cordic)
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const float Conv = 90.0007295677/0x40000000; // exact FANET conversion factor (not exactly cordic)
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const float Conv = 90.0007295677/0x40000000; // FANET cordic conversion factor (not exactly cordic)
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return Conv*Coord; }
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static int32_t getLat(const uint8_t *Byte) // cordic units
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static int32_t getLat(const uint8_t *Byte) // FANET cordic units
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{ int32_t Latitude=Byte[2]; Latitude<<=8; Latitude|=Byte[1]; Latitude<<=8; Latitude|=Byte[0]; Latitude<<=7; return Latitude; }
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static void setLat(uint8_t *Byte, int32_t Lat)
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{ Lat = (Lat+0x40)>>7; Byte[0]=Lat; Byte[1]=Lat>>8; Byte[2]=Lat>>16; }
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static int32_t getLon(const uint8_t *Byte) // cordic units
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static int32_t getLon(const uint8_t *Byte) // FANET cordic units
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{ int32_t Longitude=Byte[2]; Longitude<<=8; Longitude|=Byte[1]; Longitude<<=8; Longitude|=Byte[0]; Longitude<<=8; return Longitude; }
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static void setLon(uint8_t *Byte, int32_t Lon)
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{ Lon = (Lon+0x80)>>8; Byte[0]=Lon; Byte[1]=Lon>>8; Byte[2]=Lon>>16; }
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@ -115,6 +115,15 @@ class FANET_Packet
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static uint16_t getPressure(const uint8_t *Byte) // [0.1hPa]
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{ uint16_t Press = Byte[1]; Press<<=8; Press|=Byte[0]; return Press+4300; }
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static int16_t getTurnRate(uint8_t Byte) // [0.25deg/s]
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{ int16_t Rate = Byte&0x7F; if(Byte&0x40) Rate|=0xFF80;
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if(Byte&0x80) return Rate<<2;
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return Rate; }
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static void setTurnRate(uint8_t *Byte, int16_t Rate)
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{ if(Rate>= 64 ) { if(Rate> 254 ) Rate= 254 ; Byte[0] = 0x80 | ((Rate+2)>>2); return; }
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if(Rate<(-64)) { if(Rate<(-254)) Rate=(-254); Byte[0] = 0x80 | (((Rate+2)>>2)&0x7F); return; }
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Byte[0] = Rate&0x7F; }
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static int16_t getQNE(uint8_t Byte) // [m] difference between pressure altitude and GPS altitude
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{ int16_t QNE = Byte&0x7F; if(Byte&0x40) QNE|=0xFF80;
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if(Byte&0x80) return QNE<<2;
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@ -132,28 +141,29 @@ class FANET_Packet
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{ if(Alt>=0x800) { Alt>>=2; if(Alt>0x800) Alt=0x800; Alt|=0x800; }
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Byte[0]=Alt; Byte[1] = (Byte[1]&0xF0) | (Alt>>8); }
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// [0..7] [0..1] [cordic] [cordic] [m] [cordic] [0.1m/s] [0.1m/s]
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void setAirPos(uint8_t AcftType, uint8_t Track, int32_t Lat, int32_t Lon, int16_t Alt, uint8_t Dir, uint16_t Speed, int16_t Climb)
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// [0..7] [0..1] [FANET cordic] [FANET cordic] [m] [cordic] [0.1m/s] [0.1m/s] [0.1deg/s]
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void setAirPos(uint8_t AcftType, uint8_t Track, int32_t Lat, int32_t Lon, int16_t Alt, uint8_t Dir, uint16_t Speed, int16_t Climb, int16_t Turn)
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{ setHeader(1);
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uint8_t Ofs=MsgOfs();
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Len=Ofs+11;
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setLat(Byte+Ofs, Lat); // [cordic]
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setLon(Byte+Ofs+3, Lon); // [cordic]
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Len=Ofs+12;
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setLat(Byte+Ofs, Lat); // [cordic]
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setLon(Byte+Ofs+3, Lon); // [cordic]
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Byte[Ofs+7]=(AcftType<<4) | (Track<<7);
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if(Alt<0) Alt=0;
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setAltitude(Byte+Ofs+6, Alt); // [m]
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Speed = (Speed*23+16)>>5; // [0.1m/s] => [0.5km/h]
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setSpeed(Byte+Ofs+8, Speed); // [0.5km/h]
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setClimb(Byte+Ofs+9, Climb); // [0.1m/s]
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Byte[Ofs+10] = Dir; } // [cordic]
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setAltitude(Byte+Ofs+6, Alt); // [m]
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Speed = (Speed*23+16)>>5; // [0.1m/s] => [0.5km/h]
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setSpeed(Byte+Ofs+8, Speed); // [0.5km/h]
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setClimb(Byte+Ofs+9, Climb); // [0.1m/s]
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Byte[Ofs+10] = Dir; // [cordic]
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setTurnRate(Byte+Ofs+11, Turn*2/5); } // [0.25deg/s]
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void setQNE(int32_t StdAltitude) // [m] only for air-position
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void setQNE(int32_t StdAltitude) // [m] only for air-position
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{ uint8_t Ofs=MsgOfs();
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int32_t Alt=getAltitude(Byte+Ofs+6);
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if(Len<(Ofs+12)) Len=Ofs+12;
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setQNE(Byte+Ofs+11, StdAltitude-Alt); }
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if(Len<(Ofs+13)) Len=Ofs+13;
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setQNE(Byte+Ofs+12, StdAltitude-Alt); }
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// [0..15] [0..1] [cordic] [cordic]
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// [0..15] [0..1] [FANET cordic] [FANET cordic]
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void setGndPos(uint8_t Status, uint8_t Track, int32_t Lat, int32_t Lon)
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{ setHeader(7);
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uint8_t Ofs=MsgOfs();
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@ -182,7 +192,7 @@ class FANET_Packet
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uint8_t WriteFNNGB(char *Out)
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{ return 0; }
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void Print(char *Name=0) const
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void Print(const char *Name=0) const
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{ if(Name) printf("%s ", Name);
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printf("[%2d:%d:%2d] FNT%06X", Len, Type(), MsgLen(), getAddr());
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if(Type()==2) // Name
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@ -198,8 +208,8 @@ class FANET_Packet
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printf("\n"); return; }
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if(Type()==4) // Service, mostly meteo
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{ uint8_t Idx=MsgOfs(); uint8_t Service=Byte[Idx++];
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int32_t Lat=getLat(Byte+Idx); Idx+=3;
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int32_t Lon=getLon(Byte+Idx); Idx+=3;
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int32_t Lat=getLat(Byte+Idx); Idx+=3; // [FANET cordic]
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int32_t Lon=getLon(Byte+Idx); Idx+=3; // [FANET cordic]
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printf(" [%+09.5f,%+010.5f] s%02X", FloatCoord(Lat), FloatCoord(Lon), Service);
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if(Service&0x80) printf(" Igw");
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if(Service&0x40) printf(" %+3.1fC", 0.5*(int8_t)Byte[Idx++]); // temperature
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@ -215,8 +225,8 @@ class FANET_Packet
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printf("\n"); return; }
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if(Type()==1) // airborne position
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{ uint8_t Idx=MsgOfs(); uint8_t AcftType=Byte[Idx+7]>>4;
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int32_t Lat=getLat(Byte+Idx);
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int32_t Lon=getLon(Byte+Idx+3);
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int32_t Lat=getLat(Byte+Idx); // [FANET cordic]
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int32_t Lon=getLon(Byte+Idx+3); // [FANET cordic]
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uint16_t Alt=getAltitude(Byte+Idx+6); // [m]
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uint16_t Speed=getSpeed(Byte[Idx+8]); // [0.5km/h]
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int16_t Climb=getClimb(Byte[Idx+9]); // [0.1m/s]
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@ -224,13 +234,16 @@ class FANET_Packet
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FloatCoord(Lat), FloatCoord(Lon), Alt, 0.5*Speed, (180.0/128)*Byte[Idx+10], 0.1*Climb,
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AcftType&0x07, AcftType&0x08?'T':'H');
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if((Idx+11)<Len)
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{ int16_t QNE = getQNE(Byte[Idx+11]);
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{ int16_t Rate = getTurnRate(Byte[Idx+11]);
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printf(" %+3.1fdeg/s", 0.25*Rate); }
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if((Idx+12)<Len)
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{ int16_t QNE = getQNE(Byte[Idx+12]);
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printf(" %+dm", QNE); }
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printf("\n"); return; }
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if(Type()==7) // ground position
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{ uint8_t Idx=MsgOfs(); uint8_t Status=Byte[Idx+6];
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int32_t Lat=getLat(Byte+Idx);
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int32_t Lon=getLon(Byte+Idx+3);
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int32_t Lat=getLat(Byte+Idx); // [FANET cordic]
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int32_t Lon=getLon(Byte+Idx+3); // [FANET cordic]
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printf(" [%+09.5f,%+010.5f] s%02X", FloatCoord(Lat), FloatCoord(Lon), Status);
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printf("\n"); return; }
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if(Type()==8) // Hardware/Software
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@ -312,6 +325,97 @@ class FANET_RxPacket: public FANET_Packet
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printf("%s CR%c%c%c %3.1fdB/%de %+3.1fkHz ", HHMMSS, '0'+CR, hasCRC?'c':'_', badCRC?'-':'+', 0.25*SNR, BitErr, 1e-2*FreqOfs);
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FANET_Packet::Print(Name); }
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int WriteJSON(char *JSON) const
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{ int Len=0;
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Len+=Format_String(JSON+Len, "\"addr\":\"");
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Len+=Format_Hex(JSON+Len, Byte[1]);
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Len+=Format_Hex(JSON+Len, Byte[3]);
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Len+=Format_Hex(JSON+Len, Byte[2]);
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JSON[Len++]='\"';
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JSON[Len++]=',';
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Len+=Format_String(JSON+Len, "\"addr_type\":");
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JSON[Len++] = HexDigit(getAddrType());
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const uint8_t *Msg = this->Msg();
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uint8_t MsgLen = this->MsgLen();
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uint8_t Type = this->Type();
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uint32_t Time=sTime; if(msTime<300) Time--;
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Len+=Format_String(JSON+Len, ",\"time\":");
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Len+=Format_UnsDec(JSON+Len, Time);
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int64_t RxTime=(int64_t)sTime-Time; RxTime*=1000; RxTime+=msTime;
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Len+=Format_String(JSON+Len, ",\"rx_time\":");
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Len+=Format_SignDec(JSON+Len, RxTime, 4, 3, 1);
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if(Type==2)
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{ Len+=Format_String(JSON+Len, ",\"Name\":\"");
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for(int Idx=0; Idx<MsgLen; Idx++)
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{ uint8_t Byte=Msg[Idx]; if(Byte==0) break;
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JSON[Len++]=Byte; }
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JSON[Len++]='\"'; }
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if(Type==1) // for airborne position
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{ uint8_t AcftType=Msg[7]>>4; // get the aircraft-type and online-track flag
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Len+=Format_String(JSON+Len, ",\"acft_type\":\"");
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JSON[Len++] = HexDigit(AcftType&0x7);
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JSON[Len++]='\"';
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Len+=Format_String(JSON+Len, ",\"acft_cat\":\""); // GDL90 aircraft category
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// no-info, para-glider, hang-glider, balloon, glider, powered, heli, UAV
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const uint8_t AcftCat[8] = { 0, 12, 12, 10, 9, 1, 7, 14 } ;
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Len+=Format_Hex(JSON+Len, AcftCat[AcftType&0x07]);
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JSON[Len++]='\"';
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Len+=Format_String(JSON+Len, ",\"no_track\":");
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JSON[Len++]='0' + (AcftType>>3); }
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if(Type==4) // for service/weather
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{ uint8_t Service=Msg[0]; //
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Len+=Format_String(JSON+Len, ",\"service\":\"");
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if(Service&0x80) JSON[Len++]='I';
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if(Service&0x40) JSON[Len++]='T';
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if(Service&0x20) JSON[Len++]='W';
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if(Service&0x10) JSON[Len++]='H';
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if(Service&0x08) JSON[Len++]='B';
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// if(Service&0x04) JSON[Len++]='R';
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if(Service&0x02) JSON[Len++]='C';
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JSON[Len++]='\"';
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int32_t Lat = getLat(Msg+1); // [cordic] decode the latitude
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int32_t Lon = getLon(Msg+4); // [cordic] decode the longitude
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Len+=Format_String(JSON+Len, ",\"lat_deg\":");
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Len+=Format_SignDec(JSON+Len, CoordUBX(Lat), 8, 7, 1);
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Len+=Format_String(JSON+Len, ",\"lon_deg\":");
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Len+=Format_SignDec(JSON+Len, CoordUBX(Lon), 8, 7, 1); }
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if(Type==1 || Type==7) // airborne or ground position
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{ int32_t Lat = getLat(Msg); // [cordic] decode the latitude
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int32_t Lon = getLon(Msg+3); // [cordic] decode the longitude
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Len+=Format_String(JSON+Len, ",\"lat_deg\":");
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Len+=Format_SignDec(JSON+Len, CoordUBX(Lat), 8, 7, 1);
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Len+=Format_String(JSON+Len, ",\"lon_deg\":");
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Len+=Format_SignDec(JSON+Len, CoordUBX(Lon), 8, 7, 1); }
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if(Type==1) // for airpborne position
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{ uint32_t Alt=getAltitude(Msg+6); // [m] decode the altitude
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uint32_t Speed=getSpeed(Msg[8]); // [0.5km/h] ground speed
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Speed = (Speed*355+0x80)>>8; // [0.5km/h] => [0.1m/s] convert
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int32_t Climb=getClimb(Msg[9]); // [0.1m/s] climb rate
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uint16_t Dir=getDir(Msg[10]); // [deg]
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Len+=Format_String(JSON+Len, ",\"alt_msl_m\":");
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Len+=Format_UnsDec(JSON+Len, Alt);
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Len+=Format_String(JSON+Len, ",\"track_deg\":");
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Len+=Format_UnsDec(JSON+Len, Dir);
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Len+=Format_String(JSON+Len, ",\"speed_mps\":");
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Len+=Format_UnsDec(JSON+Len, Speed, 2, 1);
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Len+=Format_String(JSON+Len, ",\"climb_mps\":");
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Len+=Format_SignDec(JSON+Len, Climb, 2, 1, 1);
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if(MsgLen>11)
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{ int16_t Turn=getTurnRate(Msg[11]);
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Len+=Format_String(JSON+Len, ",\"turn_dps\":");
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Len+=Format_SignDec(JSON+Len, Turn*10/4, 2, 1, 1); }
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if(MsgLen>12)
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{ int32_t AltStd=Alt; Alt+=getQNE(Msg[12]);
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Len+=Format_String(JSON+Len, ",\"alt_std_m\":");
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Len+=Format_SignDec(JSON+Len, AltStd, 1, 0, 1); }
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Len+=Format_String(JSON+Len, ",\"on_ground\":0"); }
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if(Type==7) // for ground position
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{ uint8_t Status = Msg[6];
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Len+=Format_String(JSON+Len, ",\"no_track\":1");
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JSON[Len++]='0' + (Status&1);
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Len+=Format_String(JSON+Len, ",\"on_ground\":1"); }
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return Len; }
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int WriteAPRS(char *Out)
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{ bool Report=0;
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int Len=0;
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@ -396,7 +500,8 @@ class FANET_RxPacket: public FANET_Packet
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int32_t Climb=getClimb(Msg[9]); // [0.1m/s]
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int32_t ClimbFeet = ((int32_t)1968*Climb+50)/100; // [fpm]
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uint16_t Dir=getDir(Msg[10]); // [deg]
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int16_t QNE=getQNE(Msg[11]); // [m]
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int16_t Turn=getQNE(Msg[11]); // [0.25deg/s]
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int16_t QNE=getQNE(Msg[12]); // [m]
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int32_t StdAlt=Alt+QNE; if(StdAlt<0) StdAlt=0; // [m]
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uint32_t StdFeet = ((int32_t)3360*StdAlt+512)>>10; // [feet]
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char hLat, hLon;
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@ -418,9 +523,13 @@ class FANET_RxPacket: public FANET_Packet
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Out[Len++]=' ';
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Len+=Format_SignDec(Out+Len, ClimbFeet);
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Len+=Format_String(Out+Len, "fpm");
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if(MsgLen>=12)
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if(MsgLen>11)
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{ Out[Len++]=' ';
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Len+=Format_SignDec(Out+Len, Turn*5/6, 2, 1);
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Len+=Format_String(Out+Len, "rot"); }
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if(MsgLen>12)
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{ Len+=Format_String(Out+Len, " FL");
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Len+=Format_UnsDec(Out+Len, StdFeet, 5, 2);}
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Len+=Format_UnsDec(Out+Len, StdFeet, 5, 2); }
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Len+=Format_String(Out+Len, " FNT1"); Out[Len++]='0'+(AcftType&7);
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Report=1; break; }
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case 7: // ground position
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@ -115,9 +115,9 @@ void Format_UnsDec( void (*Output)(char), uint16_t Value, uint8_t MinDigits, uin
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}
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}
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void Format_SignDec( void (*Output)(char), int16_t Value, uint8_t MinDigits, uint8_t DecPoint)
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void Format_SignDec( void (*Output)(char), int16_t Value, uint8_t MinDigits, uint8_t DecPoint, uint8_t NoPlus)
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{ if(Value<0) { (*Output)('-'); Value=(-Value); }
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else { (*Output)('+'); }
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else if(!NoPlus) { (*Output)('+'); }
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Format_UnsDec(Output, (uint16_t)Value, MinDigits, DecPoint); }
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void Format_UnsDec( void (*Output)(char), uint32_t Value, uint8_t MinDigits, uint8_t DecPoint)
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@ -134,14 +134,14 @@ void Format_UnsDec( void (*Output)(char), uint32_t Value, uint8_t MinDigits, uin
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}
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}
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void Format_SignDec( void (*Output)(char), int32_t Value, uint8_t MinDigits, uint8_t DecPoint)
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void Format_SignDec( void (*Output)(char), int32_t Value, uint8_t MinDigits, uint8_t DecPoint, uint8_t NoPlus)
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{ if(Value<0) { (*Output)('-'); Value=(-Value); }
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else { (*Output)('+'); }
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else if(!NoPlus) { (*Output)('+'); }
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Format_UnsDec(Output, (uint32_t)Value, MinDigits, DecPoint); }
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void Format_UnsDec( void (*Output)(char), uint64_t Value, uint8_t MinDigits, uint8_t DecPoint)
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{ uint64_t Base; uint8_t Pos;
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for( Pos=20, Base=10000000000000000000; Base; Base/=10, Pos--)
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for( Pos=20, Base=10000000000000000000llu; Base; Base/=10, Pos--)
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{ uint8_t Dig;
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if(Value>=Base)
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{ Dig=Value/Base; Value-=Dig*Base; }
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@ -153,9 +153,9 @@ void Format_UnsDec( void (*Output)(char), uint64_t Value, uint8_t MinDigits, uin
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}
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}
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void Format_SignDec( void (*Output)(char), int64_t Value, uint8_t MinDigits, uint8_t DecPoint)
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void Format_SignDec( void (*Output)(char), int64_t Value, uint8_t MinDigits, uint8_t DecPoint, uint8_t NoPlus)
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{ if(Value<0) { (*Output)('-'); Value=(-Value); }
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else { (*Output)('+'); }
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else if(!NoPlus) { (*Output)('+'); }
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Format_UnsDec(Output, (uint32_t)Value, MinDigits, DecPoint); }
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// ------------------------------------------------------------------------------------------
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@ -175,10 +175,11 @@ uint8_t Format_UnsDec(char *Out, uint32_t Value, uint8_t MinDigits, uint8_t DecP
|
|||
}
|
||||
return Len; }
|
||||
|
||||
uint8_t Format_SignDec(char *Out, int32_t Value, uint8_t MinDigits, uint8_t DecPoint)
|
||||
{ if(Value<0) { (*Out++)='-'; Value=(-Value); }
|
||||
else { (*Out++)='+'; }
|
||||
return 1+Format_UnsDec(Out, Value, MinDigits, DecPoint); }
|
||||
uint8_t Format_SignDec(char *Out, int32_t Value, uint8_t MinDigits, uint8_t DecPoint, uint8_t NoPlus)
|
||||
{ uint8_t Len=0;
|
||||
if(Value<0) { (*Out++)='-'; Len++; Value=(-Value); }
|
||||
else if(!NoPlus) { (*Out++)='+'; Len++; }
|
||||
return Len+Format_UnsDec(Out, Value, MinDigits, DecPoint); }
|
||||
|
||||
uint8_t Format_Hex( char *Output, uint8_t Byte )
|
||||
{ (*Output++) = HexDigit(Byte>>4); (*Output++)=HexDigit(Byte&0x0F); return 2; }
|
||||
|
|
|
|||
|
|
@ -19,19 +19,19 @@ void Format_Hex( void (*Output)(char), uint32_t Word );
|
|||
void Format_MAC( void (*Output)(char), uint8_t *MAC, uint8_t Len=6);
|
||||
|
||||
void Format_UnsDec ( void (*Output)(char), uint16_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0);
|
||||
void Format_SignDec( void (*Output)(char), int16_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0);
|
||||
void Format_SignDec( void (*Output)(char), int16_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0, uint8_t NoPlus=0);
|
||||
|
||||
void Format_UnsDec ( void (*Output)(char), uint32_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0);
|
||||
void Format_SignDec( void (*Output)(char), int32_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0);
|
||||
void Format_SignDec( void (*Output)(char), int32_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0, uint8_t NoPlus=0);
|
||||
|
||||
void Format_UnsDec ( void (*Output)(char), uint64_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0);
|
||||
void Format_SignDec( void (*Output)(char), int64_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0);
|
||||
void Format_SignDec( void (*Output)(char), int64_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0, uint8_t NoPlus=0);
|
||||
|
||||
uint8_t Format_String(char *Out, const char *String);
|
||||
uint8_t Format_String(char *Out, const char *String, uint8_t MinLen, uint8_t MaxLen);
|
||||
|
||||
uint8_t Format_UnsDec (char *Out, uint32_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0);
|
||||
uint8_t Format_SignDec(char *Out, int32_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0);
|
||||
uint8_t Format_SignDec(char *Out, int32_t Value, uint8_t MinDigits=1, uint8_t DecPoint=0, uint8_t NoPlus=0);
|
||||
|
||||
uint8_t Format_Hex( char *Output, uint8_t Byte );
|
||||
uint8_t Format_Hex( char *Output, uint16_t Word );
|
||||
|
|
|
|||
|
|
@ -1214,7 +1214,7 @@ class GPS_Position: public GPS_Time
|
|||
int32_t Lon = getFANETcordic(Longitude); // Longitude: [0.0001/60deg] => [cordic]
|
||||
// other, glider, tow, heli, chute, drop, hang, para, powered, jet, UFO, balloon, air, UAV, ground, static
|
||||
const uint8_t FNTtype[16] = { 0, 4, 5, 6, 1, 5, 2, 1, 5, 5, 0, 3, 5, 7, 0, 0 } ; // convert aircraft-type from OGN to FANET
|
||||
Packet.setAirPos(FNTtype[AcftType&0x0F], Track, Lat, Lon, Alt, (((uint16_t)Heading<<4)+112)/225, Speed, ClimbRate);
|
||||
Packet.setAirPos(FNTtype[AcftType&0x0F], Track, Lat, Lon, Alt, (((uint16_t)Heading<<4)+112)/225, Speed, ClimbRate, TurnRate);
|
||||
if(hasBaro) { Packet.setQNE((StdAltitude+5)/10); }
|
||||
}
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue