Paparazzi UAS  v5.15_devel-111-g8fb4629
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
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"
+ Include dependency graph for traffic_info.c:

Go to the source code of this file.

Functions

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 (void)
 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)
 

Variables

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

Author
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  )
static

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().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

Variable Documentation