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fix(mavlink): update TransponderReport flag bitmask

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This commit is contained in:
Anil Kircaliali
2026-07-12 19:28:00 -07:00
committed by Matthias Grob
parent eba76cbb69
commit 0e01c3452e
3 changed files with 24 additions and 2 deletions
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10
msg/TransponderReport.msg
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@@ -14,14 +14,20 @@ uint16 flags # Flags to indicate various statuses including valid data fields
uint16 squawk # Squawk code
uint8[18] uas_id # Unique UAS ID
# ADSB flags
# ADSB flags, bit values match MAVLink's ADSB_FLAGS enum (common.xml)
uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
uint16 PX4_ADSB_FLAGS_RETRANSLATE = 256
uint16 PX4_ADSB_FLAGS_SIMULATED = 64
uint16 PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID = 128
uint16 PX4_ADSB_FLAGS_BARO_VALID = 256
uint16 PX4_ADSB_FLAGS_SOURCE_UAT = 32768
# PX4-internal flag, not part of the MAVLink ADSB_FLAGS bitmask: uses a bit MAVLink leaves unused
uint16 PX4_ADSB_FLAGS_RETRANSLATE = 512
#ADSB Emitter Data:
#from mavlink/v2.0/common/common.h

8
src/modules/mavlink/mavlink_receiver.cpp
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@@ -2886,6 +2886,14 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }
if (adsb.flags & ADSB_FLAGS_SIMULATED) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_SIMULATED; }
if (adsb.flags & ADSB_FLAGS_VERTICAL_VELOCITY_VALID) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID; }
if (adsb.flags & ADSB_FLAGS_BARO_VALID) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_BARO_VALID; }
if (adsb.flags & ADSB_FLAGS_SOURCE_UAT) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_SOURCE_UAT; }
//PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc);
_transponder_report_pub.publish(t);

8
src/modules/mavlink/streams/ADSB_VEHICLE.hpp
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@@ -99,6 +99,14 @@ private:
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_SIMULATED) { msg.flags |= ADSB_FLAGS_SIMULATED; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID) { msg.flags |= ADSB_FLAGS_VERTICAL_VELOCITY_VALID; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_BARO_VALID) { msg.flags |= ADSB_FLAGS_BARO_VALID; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_SOURCE_UAT) { msg.flags |= ADSB_FLAGS_SOURCE_UAT; }
mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
sent = true;
}