Data Structures
struct	acInfo

Macros
#define	AC_INFO_POS_UTM_I 0

#define	AC_INFO_POS_LLA_I 1

#define	AC_INFO_POS_ENU_I 2

#define	AC_INFO_POS_UTM_F 3

#define	AC_INFO_POS_LLA_F 4

#define	AC_INFO_POS_ENU_F 5

#define	AC_INFO_VEL_ENU_I 6

#define	AC_INFO_VEL_ENU_F 7

#define	AC_INFO_VEL_LOCAL_F 8

Functions
void	traffic_info_init (void)

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...

static void	acInfoSetPositionUtm_i (uint8_t ac_id, struct UtmCoor_i *utm_pos)
	Set position from UTM coordinates (int). More...

static void	acInfoSetPositionLla_i (uint8_t ac_id, struct LlaCoor_i *lla_pos)
	Set position from LLA coordinates (int). More...

static void	acInfoSetPositionEnu_i (uint8_t ac_id, struct EnuCoor_i *enu_pos)
	Set position from ENU coordinates (int). More...

static void	acInfoSetPositionUtm_f (uint8_t ac_id, struct UtmCoor_f *utm_pos)
	Set position from UTM coordinates (float). More...

static void	acInfoSetPositionLla_f (uint8_t ac_id, struct LlaCoor_f *lla_pos)
	Set position from LLA coordinates (float). More...

static void	acInfoSetPositionEnu_f (uint8_t ac_id, struct EnuCoor_f *enu_pos)
	Set position from ENU coordinates (float). More...

static void	acInfoSetVelocityEnu_i (uint8_t ac_id, struct EnuCoor_i *enu_vel)
	Set velocity from ENU coordinates (int). More...

static void	acInfoSetVelocityEnu_f (uint8_t ac_id, struct EnuCoor_f *enu_vel)
	Set velocity from ENU coordinates (float). More...

void	acInfoCalcPositionUtm_i (uint8_t ac_id)

void	acInfoCalcPositionUtm_f (uint8_t ac_id)

void	acInfoCalcPositionLla_i (uint8_t ac_id)

void	acInfoCalcPositionLla_f (uint8_t ac_id)

void	acInfoCalcPositionEnu_i (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)

static struct UtmCoor_i *	acInfoGetPositionUtm_i (uint8_t ac_id)
	Get position from UTM coordinates (int). More...

static struct LlaCoor_i *	acInfoGetPositionLla_i (uint8_t ac_id)
	Get position from LLA coordinates (int). More...

static struct EnuCoor_i *	acInfoGetPositionEnu_i (uint8_t ac_id)
	Get position in local ENU coordinates (int). More...

static struct UtmCoor_f *	acInfoGetPositionUtm_f (uint8_t ac_id)
	Get position from UTM coordinates (float). More...

static struct LlaCoor_f *	acInfoGetPositionLla_f (uint8_t ac_id)
	Get position from LLA coordinates (float). More...

static struct EnuCoor_f *	acInfoGetPositionEnu_f (uint8_t ac_id)
	Get position in local ENU coordinates (float). More...

static struct EnuCoor_i *	acInfoGetVelocityEnu_i (uint8_t ac_id)
	Get position from ENU coordinates (int). More...

static struct EnuCoor_f *	acInfoGetVelocityEnu_f (uint8_t ac_id)
	Get position from ENU coordinates (float). More...

static float	acInfoGetCourse (uint8_t ac_id)
	Get vehicle course (float). More...

static float	acInfoGetGspeed (uint8_t ac_id)
	Get vehicle ground speed (float). More...

static float	acInfoGetClimb (uint8_t ac_id)
	Get vehicle climb speed (float). More...

static uint32_t	acInfoGetItow (uint8_t ac_id)
	Get time of week from latest message (ms). More...

Variables
uint8_t	ti_acs_idx

uint8_t	ti_acs_id []

struct acInfo	ti_acs []

Detailed Description

Data Structure Documentation

◆ acInfo

struct acInfo

Definition at line 57 of file traffic_info.h.

Collaboration diagram for acInfo:

Data Fields
uint8_t	ac_id
float	climb	m/s
float	course	rad
struct EnuCoor_f	enu_pos_f	Position in North East Down coordinates Units: m.
struct EnuCoor_i	enu_pos_i	Position in North East Down coordinates. Units: m in BFP with INT32_POS_FRAC
struct EnuCoor_f	enu_vel_f	speed in North East Down coordinates Units: m/s
struct EnuCoor_i	enu_vel_i	Velocity in North East Down coordinates. Units: m/s in BFP with INT32_SPEED_FRAC
float	gspeed	m/s
uint32_t	itow	ms
struct LlaCoor_f	lla_pos_f	Position in Latitude, Longitude and Altitude. Units lat,lon: radians Units alt: meters above reference ellipsoid
struct LlaCoor_i	lla_pos_i	Position in Latitude, Longitude and Altitude. Units lat,lon: degrees*1e7 Units alt: milimeters above reference ellipsoid
uint16_t	status	Holds the status bits for all acinfo position and velocity representations. When the corresponding bit is set the representation is already computed.
struct UtmCoor_f	utm_pos_f	Position in UTM coordinates. Units x,y: meters. Units z: meters above MSL
struct UtmCoor_i	utm_pos_i	Position in UTM coordinates. Units x,y: centimetres. Units z: millimetres above MSL

Macro Definition Documentation

◆ AC_INFO_POS_ENU_F

#define AC_INFO_POS_ENU_F 5

Definition at line 52 of file traffic_info.h.

◆ AC_INFO_POS_ENU_I

#define AC_INFO_POS_ENU_I 2

Definition at line 49 of file traffic_info.h.

◆ AC_INFO_POS_LLA_F

#define AC_INFO_POS_LLA_F 4

Definition at line 51 of file traffic_info.h.

◆ AC_INFO_POS_LLA_I

#define AC_INFO_POS_LLA_I 1

Definition at line 48 of file traffic_info.h.

◆ AC_INFO_POS_UTM_F

#define AC_INFO_POS_UTM_F 3

Definition at line 50 of file traffic_info.h.

◆ AC_INFO_POS_UTM_I

#define AC_INFO_POS_UTM_I 0

Definition at line 47 of file traffic_info.h.

◆ AC_INFO_VEL_ENU_F

#define AC_INFO_VEL_ENU_F 7

Definition at line 54 of file traffic_info.h.

◆ AC_INFO_VEL_ENU_I

#define AC_INFO_VEL_ENU_I 6

Definition at line 53 of file traffic_info.h.

◆ AC_INFO_VEL_LOCAL_F

#define AC_INFO_VEL_LOCAL_F 8

Definition at line 55 of file traffic_info.h.

Function Documentation

◆ acInfoCalcPositionEnu_f()

void acInfoCalcPositionEnu_f ( uint8_t ac_id )

Definition at line 408 of file traffic_info.c.

References AC_INFO_POS_ENU_F, AC_INFO_POS_ENU_I, AC_INFO_POS_LLA_F, AC_INFO_POS_LLA_I, AC_INFO_POS_UTM_F, AC_INFO_POS_UTM_I, acInfoGetPositionLla_f(), acInfoGetPositionLla_i(), acInfoGetPositionUtm_f(), ENU_FLOAT_OF_BFP, enu_of_lla_point_f(), enu_of_lla_point_i(), ENU_OF_UTM_DIFF, acInfo::enu_pos_i, State::ned_initialized_i, POS_BFP_OF_REAL, state, stateGetNedOrigin_f(), stateGetNedOrigin_i(), stateGetUtmOrigin_f(), status, ti_acs, ti_acs_id, State::utm_initialized_f, EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by acInfoGetPositionEnu_f().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoCalcPositionEnu_i()

void acInfoCalcPositionEnu_i ( uint8_t ac_id )

Definition at line 308 of file traffic_info.c.

References AC_INFO_POS_ENU_F, AC_INFO_POS_ENU_I, AC_INFO_POS_LLA_F, AC_INFO_POS_LLA_I, AC_INFO_POS_UTM_F, AC_INFO_POS_UTM_I, acInfoGetPositionLla_f(), acInfoGetPositionLla_i(), acInfoGetPositionUtm_f(), ENU_BFP_OF_REAL, enu_of_lla_point_f(), enu_of_lla_point_i(), ENU_OF_UTM_DIFF, acInfo::enu_pos_i, State::ned_initialized_i, POS_BFP_OF_REAL, state, stateGetNedOrigin_f(), stateGetNedOrigin_i(), stateGetUtmOrigin_f(), status, ti_acs, ti_acs_id, State::utm_initialized_f, EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by acInfoGetPositionEnu_i().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoCalcPositionLla_f()

void acInfoCalcPositionLla_f ( uint8_t ac_id )

Definition at line 380 of file traffic_info.c.

References AC_INFO_POS_LLA_F, AC_INFO_POS_LLA_I, AC_INFO_POS_UTM_F, AC_INFO_POS_UTM_I, LlaCoor_f::alt, LlaCoor_i::alt, geoid_height, LLA_FLOAT_OF_BFP, lla_of_utm_f(), lla_of_utm_i(), acInfo::lla_pos_f, acInfo::lla_pos_i, status, ti_acs, ti_acs_id, and update_geoid_height().

Referenced by acInfoGetPositionLla_f().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoCalcPositionLla_i()

void acInfoCalcPositionLla_i ( uint8_t ac_id )

Definition at line 280 of file traffic_info.c.

References AC_INFO_POS_LLA_F, AC_INFO_POS_LLA_I, AC_INFO_POS_UTM_F, AC_INFO_POS_UTM_I, LlaCoor_f::alt, LlaCoor_i::alt, geoid_height, LLA_BFP_OF_REAL, lla_of_utm_f(), lla_of_utm_i(), acInfo::lla_pos_f, acInfo::lla_pos_i, status, ti_acs, ti_acs_id, and update_geoid_height().

Referenced by acInfoGetPositionLla_i().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoCalcPositionUtm_f()

void acInfoCalcPositionUtm_f ( uint8_t ac_id )

Definition at line 348 of file traffic_info.c.

References AC_INFO_POS_LLA_F, AC_INFO_POS_LLA_I, AC_INFO_POS_UTM_F, AC_INFO_POS_UTM_I, UtmCoor_f::alt, UtmCoor_i::alt, geoid_height, stateGetUtmOrigin_f(), status, ti_acs, ti_acs_id, update_geoid_height(), UTM_FLOAT_OF_BFP, utm_of_lla_f(), utm_of_lla_i(), acInfo::utm_pos_f, acInfo::utm_pos_i, UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by acInfoGetPositionUtm_f().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoCalcPositionUtm_i()

void acInfoCalcPositionUtm_i ( uint8_t ac_id )

Definition at line 247 of file traffic_info.c.

References AC_INFO_POS_LLA_F, AC_INFO_POS_LLA_I, AC_INFO_POS_UTM_F, AC_INFO_POS_UTM_I, UtmCoor_f::alt, UtmCoor_i::alt, geoid_height, stateGetUtmOrigin_f(), status, ti_acs, ti_acs_id, update_geoid_height(), UTM_BFP_OF_REAL, utm_of_lla_f(), utm_of_lla_i(), acInfo::utm_pos_f, acInfo::utm_pos_i, UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by acInfoGetPositionUtm_i().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoCalcVelocityEnu_f()

void acInfoCalcVelocityEnu_f ( uint8_t ac_id )

Definition at line 468 of file traffic_info.c.

References AC_INFO_VEL_ENU_F, AC_INFO_VEL_ENU_I, AC_INFO_VEL_LOCAL_F, acInfo::climb, course, acInfo::enu_vel_f, acInfo::gspeed, SPEEDS_FLOAT_OF_BFP, status, ti_acs, ti_acs_id, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by acInfoGetVelocityEnu_f().

Here is the caller graph for this function:

◆ acInfoCalcVelocityEnu_i()

void acInfoCalcVelocityEnu_i ( uint8_t ac_id )

Definition at line 446 of file traffic_info.c.

References AC_INFO_VEL_ENU_F, AC_INFO_VEL_ENU_I, acInfo::climb, course, acInfo::enu_vel_f, acInfo::gspeed, SPEEDS_BFP_OF_REAL, status, ti_acs, ti_acs_id, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by acInfoGetVelocityEnu_i().

Here is the caller graph for this function:

◆ acInfoGetClimb()

static float acInfoGetClimb ( uint8_t ac_id )

inlinestatic

Get vehicle climb speed (float).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 432 of file traffic_info.h.

References acInfo::climb, ti_acs, and ti_acs_id.

◆ acInfoGetCourse()

static float acInfoGetCourse ( uint8_t ac_id )

inlinestatic

Get vehicle course (float).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 416 of file traffic_info.h.

References acInfo::course, ti_acs, and ti_acs_id.

Referenced by calculate_new_heading(), and formation_flight().

Here is the caller graph for this function:

◆ acInfoGetGspeed()

static float acInfoGetGspeed ( uint8_t ac_id )

inlinestatic

Get vehicle ground speed (float).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 424 of file traffic_info.h.

References acInfo::gspeed, ti_acs, and ti_acs_id.

Referenced by formation_flight().

Here is the caller graph for this function:

◆ acInfoGetItow()

static uint32_t acInfoGetItow ( uint8_t ac_id )

inlinestatic

Get time of week from latest message (ms).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 440 of file traffic_info.h.

References acInfo::itow, ti_acs, and ti_acs_id.

Referenced by calculate_new_heading(), formation_flight(), and potential_task().

Here is the caller graph for this function:

◆ acInfoGetPositionEnu_f()

static struct EnuCoor_f* acInfoGetPositionEnu_f ( uint8_t ac_id )

inlinestatic

Get position in local ENU coordinates (float).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 383 of file traffic_info.h.

References AC_INFO_POS_ENU_F, acInfoCalcPositionEnu_f(), acInfo::enu_pos_f, status, ti_acs, and ti_acs_id.

Referenced by calculate_new_heading(), formation_flight(), potential_task(), tcas_periodic_task_1Hz(), and tcas_periodic_task_4Hz().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoGetPositionEnu_i()

static struct EnuCoor_i* acInfoGetPositionEnu_i ( uint8_t ac_id )

inlinestatic

Get position in local ENU coordinates (int).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 350 of file traffic_info.h.

References AC_INFO_POS_ENU_I, acInfoCalcPositionEnu_i(), acInfo::enu_pos_i, status, ti_acs, and ti_acs_id.

Referenced by follow_wp().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoGetPositionLla_f()

static struct LlaCoor_f* acInfoGetPositionLla_f ( uint8_t ac_id )

inlinestatic

Get position from LLA coordinates (float).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 372 of file traffic_info.h.

References AC_INFO_POS_LLA_F, acInfoCalcPositionLla_f(), acInfo::lla_pos_f, status, ti_acs, and ti_acs_id.

Referenced by acInfoCalcPositionEnu_f(), and acInfoCalcPositionEnu_i().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoGetPositionLla_i()

static struct LlaCoor_i* acInfoGetPositionLla_i ( uint8_t ac_id )

inlinestatic

Get position from LLA coordinates (int).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 339 of file traffic_info.h.

References AC_INFO_POS_LLA_I, acInfoCalcPositionLla_i(), acInfo::lla_pos_i, status, ti_acs, and ti_acs_id.

Referenced by acInfoCalcPositionEnu_f(), and acInfoCalcPositionEnu_i().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoGetPositionUtm_f()

static struct UtmCoor_f* acInfoGetPositionUtm_f ( uint8_t ac_id )

inlinestatic

Get position from UTM coordinates (float).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 361 of file traffic_info.h.

References AC_INFO_POS_UTM_F, acInfoCalcPositionUtm_f(), status, ti_acs, ti_acs_id, and acInfo::utm_pos_f.

Referenced by acInfoCalcPositionEnu_f(), and acInfoCalcPositionEnu_i().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoGetPositionUtm_i()

static struct UtmCoor_i* acInfoGetPositionUtm_i ( uint8_t ac_id )

inlinestatic

Get position from UTM coordinates (int).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 328 of file traffic_info.h.

References AC_INFO_POS_UTM_I, acInfoCalcPositionUtm_i(), status, ti_acs, ti_acs_id, and acInfo::utm_pos_i.

Here is the call graph for this function:

◆ acInfoGetVelocityEnu_f()

static struct EnuCoor_f* acInfoGetVelocityEnu_f ( uint8_t ac_id )

inlinestatic

Get position from ENU coordinates (float).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 405 of file traffic_info.h.

References AC_INFO_VEL_ENU_F, acInfoCalcVelocityEnu_f(), acInfo::enu_vel_f, status, ti_acs, and ti_acs_id.

Referenced by formation_flight(), potential_task(), and tcas_periodic_task_1Hz().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ acInfoGetVelocityEnu_i()

static struct EnuCoor_i* acInfoGetVelocityEnu_i ( uint8_t ac_id )

inlinestatic

Get position from ENU coordinates (int).

Parameters

[in] ac_id aircraft id of aircraft info to get

Definition at line 394 of file traffic_info.h.

References AC_INFO_VEL_ENU_I, acInfoCalcVelocityEnu_i(), acInfo::enu_vel_i, status, ti_acs, and ti_acs_id.

Here is the call graph for this function:

◆ acInfoSetPositionEnu_f()

static void acInfoSetPositionEnu_f	(	uint8_t	ac_id,
		struct EnuCoor_f *	enu_pos
	)

inlinestatic

Set position from ENU coordinates (float).

Parameters

[in]	ac_id	aircraft id of aircraft info to set
[in]	enu_pos	position in ENU (float)

Definition at line 261 of file traffic_info.h.

References acInfo::ac_id, AC_INFO_POS_ENU_F, acInfo::enu_pos_f, gps_tow_from_sys_ticks(), acInfo::itow, NB_ACS, sys_time::nb_tick, acInfo::status, ti_acs, ti_acs_id, ti_acs_idx, and VECT3_COPY.

Here is the call graph for this function:

◆ acInfoSetPositionEnu_i()

static void acInfoSetPositionEnu_i	(	uint8_t	ac_id,
		struct EnuCoor_i *	enu_pos
	)

inlinestatic

Set position from ENU coordinates (int).

Parameters

[in]	ac_id	aircraft id of aircraft info to set
[in]	enu_pos	position in ENU (int)

Definition at line 207 of file traffic_info.h.

References acInfo::ac_id, AC_INFO_POS_ENU_I, acInfo::enu_pos_i, gps_tow_from_sys_ticks(), acInfo::itow, NB_ACS, sys_time::nb_tick, acInfo::status, ti_acs, ti_acs_id, ti_acs_idx, and VECT3_COPY.

Here is the call graph for this function:

◆ acInfoSetPositionLla_f()

static void acInfoSetPositionLla_f	(	uint8_t	ac_id,
		struct LlaCoor_f *	lla_pos
	)

inlinestatic

Set position from LLA coordinates (float).

Parameters

[in]	ac_id	aircraft id of aircraft info to set
[in]	lla_pos	LLA position (float)

Definition at line 243 of file traffic_info.h.

References acInfo::ac_id, AC_INFO_POS_LLA_F, gps_tow_from_sys_ticks(), acInfo::itow, LLA_COPY, acInfo::lla_pos_i, NB_ACS, sys_time::nb_tick, acInfo::status, ti_acs, ti_acs_id, and ti_acs_idx.

Here is the call graph for this function:

◆ acInfoSetPositionLla_i()

static void acInfoSetPositionLla_i	(	uint8_t	ac_id,
		struct LlaCoor_i *	lla_pos
	)

inlinestatic

Set position from LLA coordinates (int).

Parameters

[in]	ac_id	aircraft id of aircraft info to set
[in]	lla_pos	LLA position (int)

Definition at line 189 of file traffic_info.h.

References acInfo::ac_id, AC_INFO_POS_LLA_I, gps_tow_from_sys_ticks(), acInfo::itow, LLA_COPY, acInfo::lla_pos_i, NB_ACS, sys_time::nb_tick, acInfo::status, ti_acs, ti_acs_id, and ti_acs_idx.

Here is the call graph for this function:

◆ acInfoSetPositionUtm_f()

static void acInfoSetPositionUtm_f	(	uint8_t	ac_id,
		struct UtmCoor_f *	utm_pos
	)

inlinestatic

Set position from UTM coordinates (float).

Parameters

[in]	ac_id	aircraft id of aircraft info to set
[in]	utm_pos	UTM position (float)

Definition at line 225 of file traffic_info.h.

References acInfo::ac_id, AC_INFO_POS_UTM_F, gps_tow_from_sys_ticks(), acInfo::itow, NB_ACS, sys_time::nb_tick, acInfo::status, ti_acs, ti_acs_id, ti_acs_idx, UTM_COPY, and acInfo::utm_pos_f.

Here is the call graph for this function:

◆ acInfoSetPositionUtm_i()

static void acInfoSetPositionUtm_i	(	uint8_t	ac_id,
		struct UtmCoor_i *	utm_pos
	)

inlinestatic

Set position from UTM coordinates (int).

Parameters

[in]	ac_id	aircraft id of aircraft info to set
[in]	utm_pos	UTM position (int)

Definition at line 171 of file traffic_info.h.

References acInfo::ac_id, AC_INFO_POS_UTM_I, gps_tow_from_sys_ticks(), acInfo::itow, NB_ACS, sys_time::nb_tick, acInfo::status, ti_acs, ti_acs_id, ti_acs_idx, UTM_COPY, and acInfo::utm_pos_i.

Here is the call graph for this function:

◆ acInfoSetVelocityEnu_f()

static void acInfoSetVelocityEnu_f	(	uint8_t	ac_id,
		struct EnuCoor_f *	enu_vel
	)

inlinestatic

Set velocity from ENU coordinates (float).

Parameters

[in]	ac_id	aircraft id of aircraft info to set
[in]	enu_vel	velocity in ENU (float)

Definition at line 297 of file traffic_info.h.

References acInfo::ac_id, AC_INFO_VEL_ENU_F, acInfo::enu_vel_i, gps_tow_from_sys_ticks(), acInfo::itow, NB_ACS, sys_time::nb_tick, acInfo::status, ti_acs, ti_acs_id, ti_acs_idx, and VECT3_COPY.

Here is the call graph for this function:

◆ acInfoSetVelocityEnu_i()

static void acInfoSetVelocityEnu_i	(	uint8_t	ac_id,
		struct EnuCoor_i *	enu_vel
	)

inlinestatic

Set velocity from ENU coordinates (int).

Parameters

[in]	ac_id	aircraft id of aircraft info to set
[in]	enu_vel	velocity in ENU (int)

Definition at line 279 of file traffic_info.h.

References acInfo::ac_id, AC_INFO_VEL_ENU_I, acInfo::enu_vel_i, gps_tow_from_sys_ticks(), acInfo::itow, NB_ACS, sys_time::nb_tick, acInfo::status, ti_acs, ti_acs_id, ti_acs_idx, and VECT3_COPY.

Here is the call graph for this function:

◆ parse_acinfo_dl()

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.

Definition at line 76 of file traffic_info.c.

References acInfo::climb, course, FALSE, gps_tow_from_sys_ticks(), acInfo::gspeed, sys_time::nb_tick, set_ac_info_lla(), set_ac_info_utm(), and TRUE.

Here is the call graph for this function:

◆ set_ac_info_lla()

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.

Parameters

[in]	id	aircraft id, 0 is reserved for GCS, 1 for this aircraft (id=AC_ID)
[in]	lat	Latitude in 1e7deg
[in]	lon	Longitude in 1e7deg
[in]	alt	Altitude in mm above ellipsoid
[in]	course	Course in decideg (CW)
[in]	gspeed	Ground speed in cm/s
[in]	climb	Climb rate in cm/s
[in]	itow	GPS time of week in ms

Definition at line 218 of file traffic_info.c.

References acInfo::ac_id, AC_INFO_POS_LLA_I, AC_INFO_VEL_LOCAL_F, LlaCoor_i::alt, acInfo::climb, acInfo::course, course, acInfo::gspeed, acInfo::itow, LlaCoor_i::lat, LLA_COPY, LlaCoor_i::lon, NB_ACS, acInfo::status, status, ti_acs, ti_acs_id, and ti_acs_idx.

Referenced by parse_acinfo_dl().

Here is the caller graph for this function:

◆ set_ac_info_utm()

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.

Parameters

[in]	id	aircraft id, 0 is reserved for GCS, 1 for this aircraft (id=AC_ID)
[in]	utm_east	UTM east in cm
[in]	utm_north	UTM north in cm
[in]	alt	Altitude in mm above MSL
[in]	utm_zone	UTM zone
[in]	course	Course in decideg (CW)
[in]	gspeed	Ground speed in m/s
[in]	climb	Climb rate in m/s
[in]	itow	GPS time of week in ms

Definition at line 176 of file traffic_info.c.

References acInfo::ac_id, AC_INFO_POS_LLA_I, AC_INFO_POS_UTM_I, AC_INFO_VEL_LOCAL_F, UtmCoor_i::alt, acInfo::climb, acInfo::course, course, UtmCoor_i::east, acInfo::gspeed, acInfo::itow, LLA_COPY, lla_of_utm_i(), NB_ACS, UtmCoor_i::north, stateGetUtmOrigin_f(), acInfo::status, status, ti_acs, ti_acs_id, ti_acs_idx, UTM_COPY, utm_of_lla_i(), acInfo::utm_pos_i, UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by parse_acinfo_dl().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ traffic_info_init()

void traffic_info_init ( void )

Definition at line 50 of file traffic_info.c.

References acInfo::ac_id, geoid_height, NB_ACS_ID, ti_acs, ti_acs_id, and ti_acs_idx.

Variable Documentation

◆ ti_acs

struct acInfo ti_acs[]

extern

Definition at line 43 of file traffic_info.c.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), acInfoCalcPositionLla_f(), acInfoCalcPositionLla_i(), acInfoCalcPositionUtm_f(), acInfoCalcPositionUtm_i(), acInfoCalcVelocityEnu_f(), acInfoCalcVelocityEnu_i(), acInfoGetClimb(), acInfoGetCourse(), acInfoGetGspeed(), acInfoGetItow(), acInfoGetPositionEnu_f(), acInfoGetPositionEnu_i(), acInfoGetPositionLla_f(), acInfoGetPositionLla_i(), acInfoGetPositionUtm_f(), acInfoGetPositionUtm_i(), acInfoGetVelocityEnu_f(), acInfoGetVelocityEnu_i(), acInfoSetPositionEnu_f(), acInfoSetPositionEnu_i(), acInfoSetPositionLla_f(), acInfoSetPositionLla_i(), acInfoSetPositionUtm_f(), acInfoSetPositionUtm_i(), acInfoSetVelocityEnu_f(), acInfoSetVelocityEnu_i(), calculate_new_heading(), formation_flight(), potential_task(), set_ac_info_lla(), set_ac_info_utm(), tcas_periodic_task_1Hz(), and traffic_info_init().

◆ ti_acs_id

uint8_t ti_acs_id[]

extern

Definition at line 43 of file traffic_info.c.

Referenced by acInfoCalcPositionEnu_f(), acInfoCalcPositionEnu_i(), acInfoCalcPositionLla_f(), acInfoCalcPositionLla_i(), acInfoCalcPositionUtm_f(), acInfoCalcPositionUtm_i(), acInfoCalcVelocityEnu_f(), acInfoCalcVelocityEnu_i(), acInfoGetClimb(), acInfoGetCourse(), acInfoGetGspeed(), acInfoGetItow(), acInfoGetPositionEnu_f(), acInfoGetPositionEnu_i(), acInfoGetPositionLla_f(), acInfoGetPositionLla_i(), acInfoGetPositionUtm_f(), acInfoGetPositionUtm_i(), acInfoGetVelocityEnu_f(), acInfoGetVelocityEnu_i(), acInfoSetPositionEnu_f(), acInfoSetPositionEnu_i(), acInfoSetPositionLla_f(), acInfoSetPositionLla_i(), acInfoSetPositionUtm_f(), acInfoSetPositionUtm_i(), acInfoSetVelocityEnu_f(), acInfoSetVelocityEnu_i(), add_slot(), formation_flight(), formation_pre_call(), parseTcasRA(), parseTcasResolve(), set_ac_info_lla(), set_ac_info_utm(), tcas_periodic_task_1Hz(), traffic_info_init(), updateFormationStatus(), and updateSlot().

◆ ti_acs_idx

uint8_t ti_acs_idx

extern

Definition at line 41 of file traffic_info.c.

Referenced by acInfoSetPositionEnu_f(), acInfoSetPositionEnu_i(), acInfoSetPositionLla_f(), acInfoSetPositionLla_i(), acInfoSetPositionUtm_f(), acInfoSetPositionUtm_i(), acInfoSetVelocityEnu_f(), acInfoSetVelocityEnu_i(), set_ac_info_lla(), set_ac_info_utm(), and traffic_info_init().

Data Structures

Macros

Functions

Variables

Detailed Description

Data Structure Documentation

◆ acInfo

Macro Definition Documentation

◆ AC_INFO_POS_ENU_F

◆ AC_INFO_POS_ENU_I

◆ AC_INFO_POS_LLA_F

◆ AC_INFO_POS_LLA_I

◆ AC_INFO_POS_UTM_F

◆ AC_INFO_POS_UTM_I

◆ AC_INFO_VEL_ENU_F

◆ AC_INFO_VEL_ENU_I

◆ AC_INFO_VEL_LOCAL_F

Function Documentation

◆ acInfoCalcPositionEnu_f()

◆ acInfoCalcPositionEnu_i()

◆ acInfoCalcPositionLla_f()

◆ acInfoCalcPositionLla_i()

◆ acInfoCalcPositionUtm_f()

◆ acInfoCalcPositionUtm_i()

◆ acInfoCalcVelocityEnu_f()

◆ acInfoCalcVelocityEnu_i()

◆ acInfoGetClimb()

◆ acInfoGetCourse()

◆ acInfoGetGspeed()

◆ acInfoGetItow()

◆ acInfoGetPositionEnu_f()

◆ acInfoGetPositionEnu_i()

◆ acInfoGetPositionLla_f()

◆ acInfoGetPositionLla_i()

◆ acInfoGetPositionUtm_f()

◆ acInfoGetPositionUtm_i()

◆ acInfoGetVelocityEnu_f()

◆ acInfoGetVelocityEnu_i()

◆ acInfoSetPositionEnu_f()

◆ acInfoSetPositionEnu_i()

◆ acInfoSetPositionLla_f()

◆ acInfoSetPositionLla_i()

◆ acInfoSetPositionUtm_f()

◆ acInfoSetPositionUtm_i()

◆ acInfoSetVelocityEnu_f()

◆ acInfoSetVelocityEnu_i()

◆ parse_acinfo_dl()

◆ set_ac_info_lla()

◆ set_ac_info_utm()

◆ traffic_info_init()

Variable Documentation

◆ ti_acs

◆ ti_acs_id

◆ ti_acs_idx