Send ADSB_VEHICLE messages on the MAVlink portabout other aircrafts

pull/5/head
Pawel Jalocha 2018-05-15 03:21:11 +00:00
rodzic 2a0e0fa849
commit e9c5ac0dd6
4 zmienionych plików z 41 dodań i 43 usunięć

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@ -3,10 +3,12 @@
#include <stdbool.h>
// #include <sys/select.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "hal.h"
// #include "freertos/FreeRTOS.h"
// #include "freertos/task.h"
// #include "freertos/semphr.h"
// #include "freertos/queue.h"
#include "driver/gpio.h"
#include "driver/uart.h"
@ -21,13 +23,13 @@
#include "esp_spiffs.h"
#ifdef WITH_BT_SPP
#include "esp_bt.h"
#include "esp_bt_main.h"
#include "esp_gap_bt_api.h"
#include "esp_bt_device.h"
#include "esp_spp_api.h"
#include "hal.h"
#endif
#ifdef WITH_OLED
#include "ssd1306.h"
@ -410,7 +412,9 @@ void IO_Configuration(void)
uart_set_pin (GPS_UART, PIN_GPS_TXD, PIN_GPS_RXD, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
uart_driver_install(GPS_UART, 256, 256, 0, 0, 0);
#ifdef WITH_OLED
gpio_set_direction(PIN_OLED_RST, GPIO_MODE_OUTPUT);
#endif
i2c_config_t I2C_Config = // I2C for OLED and pressue sensor
{ mode: I2C_MODE_MASTER,

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@ -27,13 +27,14 @@
// #define WITH_LED_RX
// #define WITH_LED_TX
// #define WITH_GPS_ENABLE // use GPS_ENABLE control line to turn the GPS ON/OFF
#define WITH_GPS_ENABLE // use GPS_ENABLE control line to turn the GPS ON/OFF
#define WITH_GPS_PPS // use the PPS signal from GPS for precise time-sync.
#define WITH_GPS_CONFIG // attempt to configure higher GPS baud rate and airborne mode
#define WITH_GPS_UBX // GPS understands UBX
// #define WITH_GPS_MTK // GPS understands MTK
// #define WITH_GPS_SRF
// #define WITH_MAVLINK
// #define WITH_MAVLINK // use MAVlink as source for the position/pressure data
// #define WITH_BMP180 // BMP180 pressure sensor
// #define WITH_BMP280 // BMP280 pressure sensor

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@ -135,13 +135,14 @@ static void ProcessRxPacket(OGN_RxPacket *RxPacket, uint8_t RxPacketIdx)
Format_String(CONS_UART_Write, Line, 0, Len);
xSemaphoreGive(CONS_Mutex);
#endif
// #ifdef WITH_MAVLINK
// MAV_ADSB_VEHICLE MAV_RxReport;
// RxPacket->Packet.Encode(&MAV_RxReport);
#ifdef WITH_MAVLINK
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);
// #endif
#endif
}
}

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@ -20,7 +20,8 @@ CONFIG_LOG_BOOTLOADER_LEVEL_INFO=
CONFIG_LOG_BOOTLOADER_LEVEL_DEBUG=
CONFIG_LOG_BOOTLOADER_LEVEL_VERBOSE=
CONFIG_LOG_BOOTLOADER_LEVEL=2
CONFIG_BOOTLOADER_VDDSDIO_BOOST=y
CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_8V=
CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
#
# Security features
@ -32,13 +33,13 @@ CONFIG_FLASH_ENCRYPTION_ENABLED=
# Serial flasher config
#
CONFIG_ESPTOOLPY_PORT="/dev/ttyUSB1"
CONFIG_ESPTOOLPY_BAUD_115200B=y
CONFIG_ESPTOOLPY_BAUD_230400B=
CONFIG_ESPTOOLPY_BAUD_115200B=
CONFIG_ESPTOOLPY_BAUD_230400B=y
CONFIG_ESPTOOLPY_BAUD_921600B=
CONFIG_ESPTOOLPY_BAUD_2MB=
CONFIG_ESPTOOLPY_BAUD_OTHER=
CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200
CONFIG_ESPTOOLPY_BAUD=115200
CONFIG_ESPTOOLPY_BAUD=230400
CONFIG_ESPTOOLPY_COMPRESSED=y
CONFIG_FLASHMODE_QIO=
CONFIG_FLASHMODE_QOUT=
@ -51,11 +52,11 @@ CONFIG_ESPTOOLPY_FLASHFREQ_26M=
CONFIG_ESPTOOLPY_FLASHFREQ_20M=
CONFIG_ESPTOOLPY_FLASHFREQ="40m"
CONFIG_ESPTOOLPY_FLASHSIZE_1MB=
CONFIG_ESPTOOLPY_FLASHSIZE_2MB=y
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=
CONFIG_ESPTOOLPY_FLASHSIZE_2MB=
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
CONFIG_ESPTOOLPY_FLASHSIZE_8MB=
CONFIG_ESPTOOLPY_FLASHSIZE_16MB=
CONFIG_ESPTOOLPY_FLASHSIZE="2MB"
CONFIG_ESPTOOLPY_FLASHSIZE="4MB"
CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y
CONFIG_ESPTOOLPY_BEFORE_RESET=y
CONFIG_ESPTOOLPY_BEFORE_NORESET=
@ -99,6 +100,7 @@ CONFIG_STACK_CHECK_NORM=
CONFIG_STACK_CHECK_STRONG=
CONFIG_STACK_CHECK_ALL=
CONFIG_STACK_CHECK=
CONFIG_WARN_WRITE_STRINGS=
#
# Component config
@ -120,26 +122,15 @@ CONFIG_AWS_IOT_SDK=
#
# Bluetooth
#
CONFIG_BT_ENABLED=y
CONFIG_BT_ENABLED=
CONFIG_BTDM_CONTROLLER_PINNED_TO_CORE=0
CONFIG_BTDM_CONTROLLER_HCI_MODE_VHCI=y
CONFIG_BTDM_CONTROLLER_HCI_MODE_UART_H4=
CONFIG_BLUEDROID_ENABLED=y
CONFIG_BLUEDROID_PINNED_TO_CORE=0
CONFIG_BTC_TASK_STACK_SIZE=3072
CONFIG_BLUEDROID_MEM_DEBUG=
CONFIG_CLASSIC_BT_ENABLED=y
CONFIG_A2DP_ENABLE=
CONFIG_BT_SPP_ENABLED=y
CONFIG_GATTS_ENABLE=y
CONFIG_GATTC_ENABLE=y
CONFIG_BLE_SMP_ENABLE=y
CONFIG_BT_STACK_NO_LOG=
CONFIG_BT_ACL_CONNECTIONS=4
CONFIG_BT_ALLOCATION_FROM_SPIRAM_FIRST=
CONFIG_BT_BLE_DYNAMIC_ENV_MEMORY=
CONFIG_SMP_ENABLE=y
CONFIG_BT_RESERVE_DRAM=0x10000
CONFIG_BT_RESERVE_DRAM=0
#
# ADC configuration
#
CONFIG_ADC_FORCE_XPD_FSM=
CONFIG_ADC2_DISABLE_DAC=y
#
# ESP32-specific
@ -148,7 +139,6 @@ CONFIG_ESP32_DEFAULT_CPU_FREQ_80=y
CONFIG_ESP32_DEFAULT_CPU_FREQ_160=
CONFIG_ESP32_DEFAULT_CPU_FREQ_240=
CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=80
CONFIG_MEMMAP_SMP=y
CONFIG_SPIRAM_SUPPORT=
CONFIG_MEMMAP_TRACEMEM=
CONFIG_MEMMAP_TRACEMEM_TWOBANKS=
@ -208,19 +198,21 @@ CONFIG_ESP32_TIME_SYSCALL_USE_NONE=
CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_RC=y
CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_CRYSTAL=
CONFIG_ESP32_RTC_CLK_CAL_CYCLES=1024
CONFIG_ESP32_RTC_XTAL_BOOTSTRAP_CYCLES=100
CONFIG_ESP32_DEEP_SLEEP_WAKEUP_DELAY=2000
CONFIG_ESP32_XTAL_FREQ_40=
CONFIG_ESP32_XTAL_FREQ_26=y
CONFIG_ESP32_XTAL_FREQ_AUTO=
CONFIG_ESP32_XTAL_FREQ=26
CONFIG_ESP32_XTAL_FREQ_26=
CONFIG_ESP32_XTAL_FREQ_AUTO=y
CONFIG_ESP32_XTAL_FREQ=0
CONFIG_DISABLE_BASIC_ROM_CONSOLE=
CONFIG_NO_BLOBS=
CONFIG_ESP_TIMER_PROFILING=
CONFIG_COMPATIBLE_PRE_V2_1_BOOTLOADERS=
CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
#
# Wi-Fi
#
CONFIG_SW_COEXIST_ENABLE=
CONFIG_ESP32_WIFI_STATIC_RX_BUFFER_NUM=10
CONFIG_ESP32_WIFI_DYNAMIC_RX_BUFFER_NUM=32
CONFIG_ESP32_WIFI_STATIC_TX_BUFFER=