Adsb support for inav

_locales/en/messages.json

@@ -3590,6 +3590,12 @@
     "osdAlarmGFORCE_AXIS_MAX_HELP": {
         "message": "The axes g force elements will start blinking when greater than this value"
     },
+    "osdAlarmADSB_MAX_DISTANCE_WARNING": {
+        "message": "Distance in meters of ADSB aircraft that is displayed"
+    },
+    "osdAlarmADSB_MAX_DISTANCE_ALERT": {
+        "message": "Distance inside which ADSB data flashes for proximity warning"
+    },
     "osd_current_alarm": {
         "message": "Current (A)"
     },
@@ -3629,6 +3635,12 @@
     "osd_rssi_dbm_alarm": {
         "message": "CRSF RSSI dBm Alarm"
     },
+    "osd_adsb_distance_warning": {
+        "message": "ADSB distance warning"
+    },
+    "osd_adsb_distance_alert": {
+        "message": "ADSB distance alert"
+    },
     "osd_rssi_dbm_alarm_HELP": {
         "message": "RSSI indicator blinks below this value. Range: [-130,0]. Zero disables this alarm."
     },

js/fc.js

@@ -29,6 +29,7 @@ var CONFIG,
     MOTOR_DATA,
     SERVO_DATA,
     GPS_DATA,
+    ADSB_VEHICLES,
     MISSION_PLANNER,
     ANALOG,
     ARMING_CONFIG,
@@ -251,6 +252,12 @@ var FC = {
             packetCount: 0
         };
 
+        ADSB_VEHICLES = {
+            vehiclesCount: 0,
+            callsignLength: 0,
+            vehicles: []
+        };
+
         MISSION_PLANNER = new WaypointCollection();
 
         ANALOG = {

js/msp/MSPCodes.js

@@ -245,5 +245,7 @@ var MSPCodes = {
     MSP2_INAV_EZ_TUNE:                  0x2070,
     MSP2_INAV_EZ_TUNE_SET:              0x2071,
 
-    MSP2_INAV_SELECT_MIXER_PROFILE:     0x2080
+    MSP2_INAV_SELECT_MIXER_PROFILE:     0x2080,
+
+    MSP2_ADSB_VEHICLE_LIST:             0x2090,
 };

js/msp/MSPHelper.js

@@ -186,6 +186,35 @@ var mspHelper = (function (gui) {
                 GPS_DATA.eph = data.getUint16(16, true);
                 GPS_DATA.epv = data.getUint16(18, true);
                 break;
+            case MSPCodes.MSP2_ADSB_VEHICLE_LIST:
+                var byteOffsetCounter = 0;
+                ADSB_VEHICLES.vehicles = [];
+                ADSB_VEHICLES.vehiclesCount = data.getUint8(byteOffsetCounter++);
+                ADSB_VEHICLES.callsignLength = data.getUint8(byteOffsetCounter++);
+
+                for(i = 0; i < ADSB_VEHICLES.vehiclesCount; i++){
+
+                    var vehicle = {callSignByteArray: [], callsign: "", icao: 0, lat: 0, lon: 0, alt: 0, heading: 0, ttl: 0, tslc: 0, emitterType: 0};
+
+                    for(ii = 0; ii < ADSB_VEHICLES.callsignLength; ii++){
+                        vehicle.callSignByteArray.push(data.getUint8(byteOffsetCounter++));
+                    }
+
+                    vehicle.callsign = (String.fromCharCode(...vehicle.callSignByteArray)).replace(/[^\x20-\x7E]/g, '');
+                    vehicle.icao = data.getUint32(byteOffsetCounter, true); byteOffsetCounter += 4;
+                    vehicle.lat = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
+                    vehicle.lon = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
+                    vehicle.altCM = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
+                    vehicle.headingDegrees = data.getUint16(byteOffsetCounter, true); byteOffsetCounter += 2;
+                    vehicle.tslc = data.getUint8(byteOffsetCounter++);
+                    vehicle.emitterType = data.getUint8(byteOffsetCounter++);
+                    vehicle.ttl = data.getUint8(byteOffsetCounter++);
+
+                    ADSB_VEHICLES.vehicles.push(vehicle);
+                }
+
+                break;
+
             case MSPCodes.MSP_ATTITUDE:
                 SENSOR_DATA.kinematics[0] = data.getInt16(0, true) / 10.0; // x
                 SENSOR_DATA.kinematics[1] = data.getInt16(2, true) / 10.0; // y

tabs/gps.js

@@ -9,6 +9,32 @@ TABS.gps.initialize = function (callback) {
         googleAnalytics.sendAppView('GPS');
     }
 
+    // mavlink ADSB_EMITTER_TYPE
+    const ADSB_VEHICLE_TYPE = {
+        0: 'adsb_14.png', // ADSB_EMITTER_TYPE_NO_INFO
+        1: 'adsb_1.png', // ADSB_EMITTER_TYPE_LIGHT
+        2: 'adsb_1.png', // ADSB_EMITTER_TYPE_SMALL
+        3: 'adsb_2.png', // ADSB_EMITTER_TYPE_LARGE
+        4: 'adsb_14.png', // ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
+        5: 'adsb_5.png', // ADSB_EMITTER_TYPE_HEAVY
+        6: 'adsb_14.png', // ADSB_EMITTER_TYPE_HIGHLY_MANUV
+        7: 'adsb_13.png', // ADSB_EMITTER_TYPE_ROTOCRAFT
+        8: 'adsb_14.png', // ADSB_EMITTER_TYPE_UNASSIGNED
+        9: 'adsb_6.png', // ADSB_EMITTER_TYPE_GLIDER
+        10: 'adsb_7.png', // ADSB_EMITTER_TYPE_LIGHTER_AIR
+        11: 'adsb_15.png', // ADSB_EMITTER_TYPE_PARACHUTE
+        12: 'adsb_1.png', // ADSB_EMITTER_TYPE_ULTRA_LIGHT
+        13: 'adsb_14.png', // ADSB_EMITTER_TYPE_UNASSIGNED2
+        14: 'adsb_8.png', // ADSB_EMITTER_TYPE_UAV
+        15: 'adsb_14.png', // ADSB_EMITTER_TYPE_SPACE
+        16: 'adsb_14.png', // ADSB_EMITTER_TYPE_UNASSGINED3
+        17: 'adsb_9.png', // ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
+        18: 'adsb_10.png', // ADSB_EMITTER_TYPE_SERVICE_SURFACE
+        19: 'adsb_12.png', // ADSB_EMITTER_TYPE_POINT_OBSTACLE
+    };
+
+
+
     var loadChainer = new MSPChainerClass();
 
     var loadChain = [
@@ -58,6 +84,10 @@ TABS.gps.initialize = function (callback) {
     let iconGeometry;
     let iconFeature;
 
+    let vehicleVectorSource;
+    let vehiclesCursorInitialized = false;
+
+
     function process_html() {
         localize();
 
@@ -131,6 +161,36 @@ TABS.gps.initialize = function (callback) {
             view: mapView
         });
 
+        TABS.gps.toolboxAdsbVehicle = new jBox('Mouse', {
+            position: {
+                x: "right",
+                y: "bottom"
+            },
+            offset: {
+                x: -5,
+                y: 20,
+            },
+        });
+
+        mapHandler.on('pointermove', function(evt) {
+            var feature = mapHandler.forEachFeatureAtPixel(mapHandler.getEventPixel(evt.originalEvent), function(feature, layer) {
+                return feature;
+            });
+
+            if (feature) {
+                TABS.gps.toolboxAdsbVehicle.setContent(
+                    `icao: <strong>` + feature.get('name') + `</strong><br />`
+                    + `lat: <strong>`+ (feature.get('data').lat / 10000000) + `</strong><br />`
+                    + `lon: <strong>`+ (feature.get('data').lon / 10000000) + `</strong><br />`
+                    + `ASL: <strong>`+ (feature.get('data').altCM ) / 100 + `m</strong><br />`
+                    + `heading: <strong>`+ feature.get('data').headingDegrees + `°</strong><br />`
+                    + `type: <strong>`+ feature.get('data').emitterType + `</strong>`
+                ).open();
+            }else{
+                TABS.gps.toolboxAdsbVehicle.close();
+            }
+        });
+
         let center = ol.proj.fromLonLat([0, 0]);
         mapView.setCenter(center);
         mapView.setZoom(2);
@@ -221,6 +281,66 @@ TABS.gps.initialize = function (callback) {
                 iconGeometry.setCoordinates(center);
 
             }
+
+            if (semver.gte(CONFIG.flightControllerVersion, "7.1.0")) {
+                MSP.send_message(MSPCodes.MSP2_ADSB_VEHICLE_LIST, false, false, function () {
+                    //ADSB vehicles
+
+                    if (vehiclesCursorInitialized) {
+                        vehicleVectorSource.clear();
+                    }
+
+                    for (let key in ADSB_VEHICLES.vehicles) {
+                        let vehicle = ADSB_VEHICLES.vehicles[key];
+
+                        if (!vehiclesCursorInitialized) {
+                            vehiclesCursorInitialized = true;
+
+                            vehicleVectorSource = new ol.source.Vector({});
+
+                            let vehicleLayer = new ol.layer.Vector({
+                                source: vehicleVectorSource
+                            });
+
+                            mapHandler.addLayer(vehicleLayer);
+                        }
+
+                        if (vehicle.lat > 0 && vehicle.lon > 0 && vehicle.ttl > 0) {
+                            let vehicleIconStyle = new ol.style.Style({
+                                image: new ol.style.Icon(({
+                                    opacity: 1,
+                                    rotation: vehicle.headingDegrees * (Math.PI / 180),
+                                    scale: 0.8,
+                                    anchor: [0.5, 0.5],
+                                    src: '../resources/adsb/' + ADSB_VEHICLE_TYPE[vehicle.emitterType],
+                                })),
+                                text: new ol.style.Text(({
+                                    text: vehicle.callsign,
+                                    textAlign: 'center',
+                                    textBaseline: "bottom",
+                                    offsetY: +40,
+                                    padding: [2, 2, 2, 2],
+                                    backgroundFill: '#444444',
+                                    fill: new ol.style.Fill({color: '#ffffff'}),
+                                })),
+                            });
+
+
+                            let iconGeometry = new ol.geom.Point(ol.proj.fromLonLat([vehicle.lon / 10000000, vehicle.lat / 10000000]));
+                            let iconFeature = new ol.Feature({
+                                geometry: iconGeometry,
+                                name: vehicle.callsign,
+                                type: 'adsb',
+                                data: vehicle,
+                            });
+
+                            iconFeature.setStyle(vehicleIconStyle);
+                            vehicleVectorSource.addFeature(iconFeature);
+                        }
+                    }
+                });
+            }
+
         }
 
         /*
@@ -271,4 +391,7 @@ TABS.gps.initialize = function (callback) {
 
 TABS.gps.cleanup = function (callback) {
     if (callback) callback();
+    if(TABS.gps.toolboxAdsbVehicle){
+        TABS.gps.toolboxAdsbVehicle.close();
+    }
 };

tabs/osd.html

@@ -242,6 +242,16 @@ <h1 class="tab_title" data-i18n="tabOSD"></h1>
                             <input id="osd_gforce_axis_alarm_max" data-setting="osd_gforce_axis_alarm_max" data-setting-multiplier="1" type="number" data-step="0.1" />
                             <span data-i18n="osd_gforce_axis_alarm_max"></span>
                         </label>
+                        <div for="adsb_distance_warning" class="helpicon cf_tip" data-i18n_title="osdAlarmADSB_MAX_DISTANCE_WARNING"></div>
+                        <label for="adsb_distance_warning">
+                            <input id="adsb_distance_warning" data-setting="osd_adsb_distance_warning" data-unit="m" data-setting-multiplier="1" type="number" data-step="1" />
+                            <span data-i18n="osd_adsb_distance_warning"></span>
+                        </label>
+                        <div for="adsb_distance_alert" class="helpicon cf_tip" data-i18n_title="osdAlarmADSB_MAX_DISTANCE_ALERT"></div>
+                        <label for="adsb_distance_alert">
+                            <input id="adsb_distance_alert" data-setting="osd_adsb_distance_alert" data-unit="m" data-setting-multiplier="1" type="number" data-step="1" />
+                            <span data-i18n="osd_adsb_distance_alert"></span>
+                        </label>
                     </div>
                 </div>
                 <div class="gui_box grey dji-hd-container" id="dji_settings">

tabs/osd.js

@@ -114,6 +114,7 @@ SYM.FLIGHT_DIST_REMAINING = 0x167;
 SYM.GROUND_COURSE = 0xDC;
 SYM.ALERT = 0xDD;
 SYM.CROSS_TRACK_ERROR = 0xFC;
+SYM.ADSB = 0xFD;
 SYM.PAN_SERVO_IS_OFFSET_L = 0x1C7;
 SYM.ODOMETER = 0X168;
 SYM.PILOT_LOGO_SML_L = 0x1D5;
@@ -480,6 +481,8 @@ OSD.initData = function () {
             imu_temp_alarm_max: null,
             baro_temp_alarm_min: null,
             baro_temp_alarm_max: null,
+            adsb_distance_warning: null,
+            adsb_distance_alert: null,
         },
         layouts: [],
         layout_count: 1, // This needs to be 1 for compatibility with < 2.0
@@ -781,6 +784,24 @@ OSD.constants = {
             min: -55,
             max: 125
         },
+        {
+            name: 'ADSB_MAX_DISTANCE_WARNING',
+            field: 'adsb_distance_warning',
+            step: 1,
+            unit: "meters",
+            min: 1,
+            max: 64000,
+            min_version: '7.1.0',
+        },
+        {
+            name: 'ADSB_MAX_DISTANCE_ALERT',
+            field: 'adsb_distance_alert',
+            step: 1,
+            unit: "meters",
+            min: 1,
+            max: 64000,
+            min_version: '7.1.0',
+        },
     ],
 
     // All display fields, from every version, do not remove elements, only add!
@@ -1654,6 +1675,18 @@ OSD.constants = {
                     min_version: '6.0.0',
                     preview: FONT.symbol(SYM.GROUND_COURSE) + '245' + FONT.symbol(SYM.DEGREES)
                 },
+                {
+                    name: 'ADSB_WARNING_MESSAGE',
+                    id: 147,
+                    min_version: '7.1.0',
+                    preview: FONT.symbol(SYM.ADSB) + '19.25' + FONT.symbol(SYM.DIR_TO_HOME+1) + '2.75',
+                },
+                {
+                    name: 'ADSB_INFO',
+                    id: 148,
+                    min_version: '7.1.0',
+                    preview: FONT.symbol(SYM.ADSB) + '2',
+                },
                 {
                     name: 'CROSS TRACK ERROR',
                     id: 141,
@@ -2264,6 +2297,8 @@ OSD.msp = {
         result.push16(OSD.data.alarms.imu_temp_alarm_max);
         result.push16(OSD.data.alarms.baro_temp_alarm_min);
         result.push16(OSD.data.alarms.baro_temp_alarm_max);
+        result.push16(OSD.data.alarms.adsb_distance_warning);
+        result.push16(OSD.data.alarms.adsb_distance_alert);
         return result;
     },
 
@@ -2283,6 +2318,8 @@ OSD.msp = {
         OSD.data.alarms.imu_temp_alarm_max = alarms.read16();
         OSD.data.alarms.baro_temp_alarm_min = alarms.read16();
         OSD.data.alarms.baro_temp_alarm_max = alarms.read16();
+        OSD.data.alarms.adsb_distance_warning = alarms.read16();
+        OSD.data.alarms.adsb_distance_alert = alarms.read16();
     },
 
     encodePreferences: function() {