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Merged
peterbarker merged 3 commits into from
Apr 8, 2025
Merged

adsb: improve display and add traffic warning #1545

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45f716c
adsb: option to show callsign
tridge Apr 7, 2025
d812492
adsb: expose add_vehicle() public method
tridge Apr 7, 2025
dbd34b0
adsb: traffic warning
tridge Apr 7, 2025
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136 changes: 86 additions & 50 deletions MAVProxy/modules/mavproxy_adsb.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@

from MAVProxy.modules.lib import mp_module
from MAVProxy.modules.lib import mp_settings
from MAVProxy.modules.lib import mp_util
from pymavlink import mavutil
from PIL import ImageColor

Expand All @@ -27,22 +28,22 @@
104 : 200
}

def get_threat_radius(m):
def get_threat_radius(emitter_type, squawk):

if m.emitter_type == 255:
if emitter_type == 255:
''' objectAvoidance Database item, squawk contains radius in cm'''
return m.squawk * 0.01
return squawk * 0.01
'''get threat radius for an OBC item'''
return obc_radius.get(m.emitter_type,0)
return obc_radius.get(emitter_type,0)


def get_threat_icon(m, default_icon):
def get_threat_icon(emitter_type, default_icon):

if m.emitter_type == 255:
if emitter_type == 255:
''' objectAvoidance Database item, do not draw an icon'''
return None
'''get threat radius for an OBC item, else the true ADSB icon'''
return obc_icons.get(m.emitter_type, default_icon)
return obc_icons.get(emitter_type, default_icon)


class ADSBVehicle(object):
Expand Down Expand Up @@ -82,15 +83,19 @@ def __init__(self, mpstate):
# threat_radius_clear = threat_radius*threat_radius_clear_multiplier
("threat_radius_clear_multiplier", int, 2),
("show_threat_radius_clear", bool, False),
("show_callsign", bool, True),
("traffic_warning", bool, False),
("alt_color1", str, "blue"),
("alt_color2", str, "red"),
("alt_color_thresh", int, 300)])
("alt_color_alt_thresh", int, 300),
("alt_color_dist_thresh", int, 3000)])
self.add_completion_function('(ADSBSETTING)',
self.ADSB_settings.completion)

self.threat_detection_timer = mavutil.periodic_event(2)
self.threat_timeout_timer = mavutil.periodic_event(2)
self.tnow = self.get_time()
self.last_traffic = self.tnow

def cmd_ADSB(self, args):
'''adsb command parser'''
Expand Down Expand Up @@ -191,51 +196,82 @@ def check_threat_timeout(self):
# called:
return

def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if m.get_type() == "ADSB_VEHICLE":
id = 'ADSB-' + str(m.ICAO_address)
if id not in self.threat_vehicles.keys(): # check to see if the vehicle is in the dict
# if not then add it
self.threat_vehicles[id] = ADSBVehicle(id=id, state=m.to_dict())
for mp in self.module_matching('map*'):
from MAVProxy.modules.lib import mp_menu
from MAVProxy.modules.mavproxy_map import mp_slipmap
self.threat_vehicles[id].menu_item = mp_menu.MPMenuItem(name=id, returnkey=None)
def add_vehicle(self, state):
'''handle an incoming vehicle packet'''
id = 'ADSB-' + str(state['ICAO_address'])
lat = state['lat']
lon = state['lon']
altitude_km = state['altitude']
callsign = state['callsign']
heading = state['heading']
emitter_type = state['emitter_type']
squawk = state['squawk']

if id not in self.threat_vehicles.keys(): # check to see if the vehicle is in the dict
#print("NEW: ", state)
# if not then add it
self.threat_vehicles[id] = ADSBVehicle(id=id, state=state)
#print("NEW: ", state)
for mp in self.module_matching('map*'):
from MAVProxy.modules.lib import mp_menu
from MAVProxy.modules.mavproxy_map import mp_slipmap
self.threat_vehicles[id].menu_item = mp_menu.MPMenuItem(name=id, returnkey=None)

threat_radius = get_threat_radius(m)
selected_icon = get_threat_icon(m, self.threat_vehicles[id].icon)
threat_radius = get_threat_radius(emitter_type, squawk)
selected_icon = get_threat_icon(emitter_type, self.threat_vehicles[id].icon)

if selected_icon is not None:
# draw the vehicle on the map
popup = mp_menu.MPMenuSubMenu('ADSB', items=[self.threat_vehicles[id].menu_item])
icon = mp.map.icon(selected_icon)
mp.map.add_object(mp_slipmap.SlipIcon(id, (m.lat * 1e-7, m.lon * 1e-7),
icon, layer=3, rotation=m.heading*0.01, follow=False,
trail=mp_slipmap.SlipTrail(colour=(0, 255, 255)),
popup_menu=popup))
if threat_radius > 0:
mp.map.add_object(mp_slipmap.SlipCircle(id+":circle", 3,
(m.lat * 1e-7, m.lon * 1e-7),
threat_radius, (0, 255, 255), linewidth=1))
else: # the vehicle is in the dict
# update the dict entry
self.threat_vehicles[id].update(m.to_dict(), self.get_time())
if selected_icon is not None:
#print("map add ", state)
# draw the vehicle on the map
popup = mp_menu.MPMenuSubMenu('ADSB', items=[self.threat_vehicles[id].menu_item])
icon = mp.map.icon(selected_icon)
mp.map.add_object(mp_slipmap.SlipIcon(id, (lat * 1e-7, lon * 1e-7),
icon, layer=3, rotation=heading*0.01, follow=False,
trail=mp_slipmap.SlipTrail(colour=(0, 255, 255)),
popup_menu=popup))
if threat_radius > 0:
mp.map.add_object(mp_slipmap.SlipCircle(id+":circle", 3,
(lat * 1e-7, lon * 1e-7),
threat_radius, (0, 255, 255), linewidth=1))
else: # the vehicle is in the dict
# update the dict entry
self.threat_vehicles[id].update(state, self.get_time())

for mp in self.module_matching('map*'):
# update the map, labelling alt above/below our alt
GPI = self.master.messages.get("GLOBAL_POSITION_INT", None)
if GPI is None:
return
ref_alt = GPI.alt*0.001
lat_deg = lat * 1.0e-7
lon_deg = lon * 1.0e-7
our_lat_deg = GPI.lat*1.0e-7
our_lon_deg = GPI.lon*1.0e-7

dist = mp_util.gps_distance(our_lat_deg, our_lon_deg, lat_deg, lon_deg)
alt_amsl = altitude_km * 0.001
color = ImageColor.getrgb(self.ADSB_settings.alt_color1)
label = ""
if self.ADSB_settings.show_callsign:
label = "[%s] " % callsign.rstrip()
if alt_amsl > 0:
alt = int(alt_amsl - ref_alt)
label += self.height_string(alt)
if abs(alt) < self.ADSB_settings.alt_color_alt_thresh and dist < self.ADSB_settings.alt_color_dist_thresh:
tnow = self.get_time()
if self.ADSB_settings.traffic_warning and tnow - self.last_traffic > 5:
self.last_traffic = tnow
self.say("traffic")
color = ImageColor.getrgb(self.ADSB_settings.alt_color2)

mp.map.set_position(id, (lat_deg, lon_deg), rotation=heading*0.01, label=label, colour=color)
mp.map.set_position(id+":circle", (lat_deg, lon_deg))

for mp in self.module_matching('map*'):
# update the map, labelling alt above/below our alt
ground_alt = self.module('terrain').ElevationModel.GetElevation(m.lat*1e-7, m.lon*1e-7)
alt_amsl = m.altitude * 0.001
color = ImageColor.getrgb(self.ADSB_settings.alt_color1)
label = None
if alt_amsl > 0:
alt = int(alt_amsl - ground_alt)
label = self.height_string(alt)
if abs(alt) < self.ADSB_settings.alt_color_thresh:
color = ImageColor.getrgb(self.ADSB_settings.alt_color2)

mp.map.set_position(id, (m.lat * 1e-7, m.lon * 1e-7), rotation=m.heading*0.01, label=label, colour=color)
mp.map.set_position(id+":circle", (m.lat * 1e-7, m.lon * 1e-7))
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if m.get_type() == "ADSB_VEHICLE":
state = m.to_dict()
self.add_vehicle(state)

def idle_task(self):
'''called on idle'''
Expand Down