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esp32-ogn-tracker
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Merge branch 'master' of https://github.com/pjalocha/esp32-ogn-tracker

pull/10/head
Pawel Jalocha 2019-06-02 09:03:03 +01:00
rodzic 8a51a7052a 3a4e0f4da1
commit 88b0918d4f
4 zmienionych plików z 59 dodań i 6 usunięć
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2
main/gps.cpp
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@ -588,7 +588,7 @@ static void GPS_MAV(void) // wh
uint64_t UnixTime_ms = MAV_getUnixTime(); // get the time from the MAVlink message
if( (MsgID!=MAV_ID_SYSTEM_TIME) && UnixTime_ms)
{ if(Position[PosIdx].hasTime)
{ uint64_t PrevUnixTime_ms = 1000*(uint64_t)Position[PosIdx].getUnixTime()+10*(uint32_t)Position[PosIdx].FracSec; // Position[PosIdx].getUnixTime_ms();
{ uint64_t PrevUnixTime_ms = Position[PosIdx].getUnixTime_ms();
int32_t TimeDiff_ms = UnixTime_ms-PrevUnixTime_ms;
#ifdef DEBUG_PRINT
xSemaphoreTake(CONS_Mutex, portMAX_DELAY);

7
main/ogn.h
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@ -985,7 +985,8 @@ class GPS_Position
return TimeDiff; } // [0.01s]
void Write(MAV_GPS_RAW_INT *MAV) const
{ MAV->time_usec = (int64_t)1000000*getUnixTime()+10000*FracSec;
// { MAV->time_usec = (int64_t)1000000*getUnixTime()+10000*FracSec;
{ MAV->time_usec = getUnixTime_ms()*1000; // (int64_t)1000000*getUnixTime()+10000*FracSec;
MAV->lat = ((int64_t)50*Latitude+1)/3;
MAV->lon = ((int64_t)50*Longitude+1)/3;
MAV->alt = 100*Altitude;
@ -1318,6 +1319,10 @@ class GPS_Position
setUnixTime(Time);
FracSec = (Time_ms-(uint64_t)Time*1000)/10; }
uint64_t getUnixTime_ms(void) const
{ return (uint64_t)getUnixTime()*1000 + (uint32_t)FracSec*10; }
private:
static const uint32_t SecsPerMin = 60;

28
main/ogn1.h
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@ -227,7 +227,7 @@ class OGN1_Packet // Packet structure for the OGN tracker
printf("\n");
}
void Encode(MAV_ADSB_VEHICLE *MAV)
/* void Encode(MAV_ADSB_VEHICLE *MAV)
{ MAV->ICAO_address = HeaderWord&0x03FFFFFF;
MAV->lat = ((int64_t)50*DecodeLatitude()+1)/3;
MAV->lon = ((int64_t)50*DecodeLongitude()+1)/3;
@ -240,6 +240,32 @@ class OGN1_Packet // Packet structure for the OGN tracker
MAV->callsign[0] = 0;
MAV->tslc = 0;
MAV->emiter_type = 0; }
*/
void Encode(MAV_ADSB_VEHICLE *MAV)
{ MAV->ICAO_address = Header.Address;
MAV->lat = ((int64_t)50*DecodeLatitude()+1)/3; // convert coordinates to [1e-7deg]
MAV->lon = ((int64_t)50*DecodeLongitude()+1)/3;
MAV->altitude = 1000*DecodeAltitude(); // convert to [mm[
MAV->heading = 10*DecodeHeading(); // [cdeg/s]
MAV->hor_velocity = 10*DecodeSpeed(); // [cm/s]
MAV->ver_velocity = 10*DecodeClimbRate(); // [cm/s]
MAV->flags = 0x1F; // all valid except for Squawk, not simulated
MAV->altitude_type = 1; // GPS altitude
const static char Prefix[4] = { 'R', 'I', 'F', 'O' }; // prefix for Random, ICAO, Flarm and OGN address-types
MAV->callsign[0] = Prefix[Header.AddrType]; // create a call-sign from address-type and address
Format_Hex((char *)MAV->callsign+1, ( uint8_t)(Header.Address>>16)); // highest byte
Format_Hex((char *)MAV->callsign+3, (uint16_t)(Header.Address&0xFFFF)); // two lower bytes
MAV->callsign[7] = 0; // end-of-string for call-sign
MAV->squawk = 0; // what shall we put there for OGN ?
MAV->tslc = 1; // 1sec for now but should be more precise
const static uint8_t EmitterType[16] = // conversion table from OGN aircraft-type
{ 0, 9, 2, 7, // unknown, glider, towplane, helicopter
11, 3, 9, 11, // parachute, drop plane, hang-glider, para-glider
2, 3, 15, 10, // powered aircraft, jet aircraft, UFO, balloon
10, 14, 2, 19 }; // airship, UAV, ground vehiele, fixed object
MAV->emiter_type = EmitterType[Position.AcftType]; // convert from the OGN
}
static const char *getAprsIcon(uint8_t AcftType)
{ static const char *AprsIcon[16] = // Icons for various FLARM acftType's

28
main/proc.cpp
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@ -284,9 +284,13 @@ static void ProcessRxPacket(OGN_RxPacket<OGN_Packet> *RxPacket, uint8_t RxPacket
MAV_ADSB_VEHICLE MAV_RxReport;
RxPacket->Packet.Encode(&MAV_RxReport);
MAV_RxMsg::Send(sizeof(MAV_RxReport), MAV_Seq++, MAV_SysID, MAV_COMP_ID_ADSB, MAV_ID_ADSB_VEHICLE, (const uint8_t *)&MAV_RxReport, GPS_UART_Write);
// xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
// MAV_RxMsg::Send(sizeof(MAV_RxReport), MAV_Seq++, MAV_SysID, MAV_COMP_ID_ADSB, MAV_ID_ADSB_VEHICLE, (const uint8_t *)&MAV_RxReport, CONS_UART_Write);
// xSemaphoreGive(CONS_Mutex);
#ifdef DEBUG_PRINT
xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
Format_String(CONS_UART_Write, "MAV_ADSB_VEHICLE sent. ID=");
Format_Hex(CONS_UART_Write, MAV_RxReport.ICAO_address);
CONS_UART_Write('\r'); CONS_UART_Write('\n');
xSemaphoreGive(CONS_Mutex);
#endif
#endif
}
}
@ -445,6 +449,24 @@ void vTaskPROC(void* pvParameters)
if( (AverSpeed>10) || ((RX_Random&0x3)==0) ) // send only some positions if the speed is less than 1m/s
RF_TxFIFO.Write(); // complete the write into the TxFIFO
Position->Sent=1;
// #ifdef WITH_MAVLINK
// { MAV_HEARTBEAT MAV_HeartBeat;
// // = { custom_mode:0,
// // type:0,
// // autopilot:0,
// // base_mode:0,
// // system_status:4,
// // mavlink_version:1
// // };
// MAV_HeartBeat.custom_mode=0;
// MAV_HeartBeat.type=0;
// MAV_HeartBeat.autopilot=0;
// MAV_HeartBeat.base_mode=0;
// MAV_HeartBeat.system_status=4;
// MAV_HeartBeat.mavlink_version=1;
// MAV_RxMsg::Send(sizeof(MAV_HeartBeat), MAV_Seq++, MAV_SysID, MAV_COMP_ID_ADSB, MAV_ID_HEARTBEAT, (const uint8_t *)&MAV_HeartBeat, GPS_UART_Write);
// }
// #endif
#ifdef WITH_LOOKOUT
const LookOut_Target *Tgt=Look.ProcessOwn(PosPacket.Packet); // process own position, get the most dangerous target
#ifdef WITH_PFLAA