Paparazzi UAS  v5.17_devel-24-g2ae834f
Paparazzi is a free software Unmanned Aircraft System.
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traffic_info.c File Reference
#include "modules/multi/traffic_info.h"
#include "generated/airframe.h"
#include "generated/flight_plan.h"
#include "subsystems/datalink/datalink.h"
#include "pprzlink/dl_protocol.h"
#include "pprzlink/messages.h"
#include "state.h"
#include "math/pprz_geodetic_utm.h"
#include "math/pprz_geodetic_wgs84.h"
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Go to the source code of this file.


void traffic_info_init (void)
static void update_geoid_height (void)
 Update estimate of the geoid height Requires an available hsml and/or lla measurement, if not available value isn't updated. More...
bool parse_acinfo_dl (uint8_t *buf)
 Parse all datalink or telemetry messages that contain global position of other acs Messages currently handled: Telemetry (vehicle -> ground or vehicle -> vehicle): GPS_SMALL, GPS, GPS_LLA Datalink (ground -> vehicle): ACINFO, ACINFO_LLA. More...
void set_ac_info_utm (uint8_t id, uint32_t utm_east, uint32_t utm_north, uint32_t alt, uint8_t utm_zone, uint16_t course, uint16_t gspeed, uint16_t climb, uint32_t itow)
 Set Aircraft info. More...
void set_ac_info_lla (uint8_t id, int32_t lat, int32_t lon, int32_t alt, int16_t course, uint16_t gspeed, int16_t climb, uint32_t itow)
 Set Aircraft info. More...
void acInfoCalcPositionUtm_i (uint8_t ac_id)
void acInfoCalcPositionLla_i (uint8_t ac_id)
void acInfoCalcPositionEnu_i (uint8_t ac_id)
void acInfoCalcPositionUtm_f (uint8_t ac_id)
void acInfoCalcPositionLla_f (uint8_t ac_id)
void acInfoCalcPositionEnu_f (uint8_t ac_id)
void acInfoCalcVelocityEnu_i (uint8_t ac_id)
void acInfoCalcVelocityEnu_f (uint8_t ac_id)


uint8_t ti_acs_idx
uint8_t ti_acs_id [NB_ACS_ID]
struct acInfo ti_acs [NB_ACS]
int32_t geoid_height

Detailed Description

Kirk Scheper Information relative to the other aircrafts. Keeps track of other aircraft in airspace

Definition in file traffic_info.c.

Function Documentation

static void update_geoid_height ( void  )

Update estimate of the geoid height Requires an available hsml and/or lla measurement, if not available value isn't updated.

Definition at line 66 of file traffic_info.c.

References LlaCoor_i::alt, geoid_height, gps, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsState::valid_fields, and wgs84_ellipsoid_to_geoid_i().

Referenced by acInfoCalcPositionLla_f(), acInfoCalcPositionLla_i(), acInfoCalcPositionUtm_f(), and acInfoCalcPositionUtm_i().

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Variable Documentation