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feat(navigator): extend detect and avoid module to follow regulatory standards such as ASTM F3442 (#26815)

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* feat(navigator): extend detect and avoid module to follow regulatory standards such as ASTM F3442

* docs(docs): minor subedit

* refactor(navigator): reduce flash by grouping notif into same events

* docs(daa): Improve docs readability with ::: details blocks

* fix(navigator): single event when on ground with conflict

* refactor(boards): increase flash length from 4M - 128k to 5M - 128k

* rework(general): define DAA standard at build with new CONFIG_NAVIGATOR_ADSB_F3442

* clean(navigator): minor changes to clean the PR

* feat(boards): add CONFIG_NAVIGATOR_ADSB_FAKE_TRAFFIC in visionTargetEstStatic.px4board

* rework(daa): reduce amount of abstractions and minor cleaning

* refactor(boards): allyes revert flash length to 4M-128K

* refactor(boards): allyes increase flash length to 5M-128K

* rework(daa): rework event notifications to improve clarity

* docs(docs): move details inside of ::: details block

* docs(docs): run npx prettier

* refactor(daa): avoid void mutator functions

* docs(docs): Improve Python helper to decode daa unique id

* rework(daa): move encoded id handling to the adsb lib and refactor on_active

* refactor(daa): naming and zero init

* fix(daa): move dataman dep from daa level to unit test level

* refactor(daa): define common daa_input and rework process_transponder_report

* fix(daa): remove stale todo

* refactor(daa): rename crosstrack_based_daa to crosstrack_standard

* refactor(daa): rename F34_ params to DAA_

* docs(docs): revert changes to autogenerated docs

* docs(docs): Add Detect And Avoid in index.md

* refactor(daa): update message on init failed

* refactor(daa): only publish most_urgent conflict once in on_active()

* refactor(daa): move conflict buffer handling in the adsb lib

* refactor(daa): move notifications into new class ConflictNotifier and only notify once per cycle

* refactor(daa): uninit _cycle_changes to store into .bss (and save flash)

* docs(docs): remove unused image link

* refactor(daa): move automated action policy to the adsb lib

* refactor(daa): move self detection into adsb lib as DaaTrafficFilter

* refactor(daa): minor changes in unit tests

* refactor(daa): merge DaaTrafficFilter and DaaEncoding

* fix(daa): fix CI by removing navigator from the DAA deps

* refactor(daa): reduce stack size

* fix(daa): advertise _fake_traffic_pub in constructor

* refactor(daa): Comments only,  simplify and reduce comments

* fix(daa): brief comment missing end star

* Disable CONFIG_NAVIGATOR_ADSB in ark_fpv_default board

* docs(docs): General clarifications and remove the 1.18 badge

* refactor(daa): cleaning

* refactor(daa): minor cleaning

* refactor(adsb): simplify conflict tracker assuming push_back cannot fail

* build(cmake): cleaner fix to protect regex alternations

* refactor(daa): Crosstrack, remove unit test requiring finite yaw (yaw not used by standard)

* refactor(daa): minor cleaning and fix callsign to uint64

---------

Co-authored-by: jonas <jonas.perolini@rigi.tech>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
Jonas Perolini
2026-07-14 00:14:42 +02:00
committed by GitHub
parent 7ca74a7cc9
commit 5ea3cf8cb9
69 changed files with 10547 additions and 1074 deletions
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msg/DetectAndAvoidMostUrgent.msg Normal file
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# Detect-and-avoid summary for the most urgent active conflict.
#
# Aggregated DAA status from navigator's `DetectAndAvoid` component.
# It publishes the single active conflict that currently has the highest urgency
# after the per-traffic conflict buffer has been updated.
#
# Unlike `detect_and_avoid`, this topic is not published for every processed
# traffic report and does not include the detailed horizontal and vertical geometry.
# It is the topic used for overall DAA status, automatic-action decisions, and
# prearm checks.
#
# Published by: `navigator` (`DetectAndAvoid`)
# Used by: `commander` DAA arming checks, logging, and tests
uint8 UNIQUE_ID_ENCODING_ICAO = 0 # `unique_id` contains an ICAO address
uint8 UNIQUE_ID_ENCODING_ADSB_CALLSIGN = 1 # `unique_id` contains an ADS-B callsign packed into a `uint64`
uint8 UNIQUE_ID_ENCODING_UAS_ID = 2 # `unique_id` contains the reduced tail bytes of a UAS ID
uint64 timestamp # [us] Time since system start
uint64 unique_id # [-] Encoded identifier of the current most urgent traffic aircraft, selected in priority order: ICAO address, ADS-B callsign, then reduced UAS ID tail bytes
uint8 unique_id_encoding # [-] Namespace used to decode `unique_id`
bool has_action # [-] True if the configured DAA response for this most urgent conflict is stronger than Warn only
uint8 conflict_level # [-] Conflict level of the current most urgent active conflict
float32 aircraft_dist # [m] Approximate 3D range to the most urgent traffic aircraft (9999 when empty)