UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-26 16:28:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add Traffic Avoidance System (ADSB/FLARM) Arming Check (#26390)

Browse Source 
* Add traffic avoidance system checks

* Update msg/px4_msgs_old/msg/VehicleStatusV1.msg

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

* docs: add arming check for traffic avoidance systems in ADS-B/FLARM documentation

* fix formating

* trafficAvoidanceCheck: switch case for configuration options

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Claudio Chies
2026-02-16 11:10:32 -08:00
committed by Matthias Grob
parent adc9a6d35d
commit 05de941399
15 changed files with 256 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
docs/en/peripherals/adsb_flarm.md
View File

@@ -73,11 +73,28 @@ Configure the action when there is a potential collision using the parameter bel
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. |
| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). |
| <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). |
| <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. |
| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). |
| <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). |
| <a id="NAV_TRAFF_COLL_T"></a>[NAV_TRAFF_COLL_T](../advanced_config/parameter_reference.md#NAV_TRAFF_COLL_T) | Collision time threshold. Avoidance will trigger if the estimated time until collision drops below this value (the estimated time is based on relative speed of traffic and UAV). |
### Arming Check
PX4 can be configured to check for the presence of a traffic avoidance system (ADSB or FLARM transponder) before arming.
This ensures that a traffic avoidance system is connected and functioning before flight.
The check is configured using the [COM_ARM_TRAFF](../advanced_config/parameter_reference.md#COM_ARM_TRAFF) parameter:
| Value | Description |
| ----- | --------------------------------------------------------------------------------------------------------------------------- |
| 0 | Disabled (default). No check is performed. |
| 1 | Warning only. A warning is issued if no traffic avoidance system is detected, but arming is allowed. |
| 2 | Enforce for all modes. Arming is denied if no traffic avoidance system is detected, regardless of flight mode. |
| 3 | Enforce for mission modes only. Arming is denied if no traffic avoidance system is detected and a mission mode is planned. |
When a traffic avoidance system is detected, the system tracks its presence with a 3-second timeout.
If the system is lost or regained, corresponding events are logged ("Traffic avoidance system lost" / "Traffic avoidance system regained").
## Implementation
### ADSB/FLARM