From d015b596b949bc6c64c58ae149721cfc5c4079c0 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Tue, 21 Jul 2026 04:22:46 +0000 Subject: [PATCH] docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot --- docs/en/msg_docs/TransponderReport.md | 135 ++++++++++++++++---------- docs/en/msg_docs/index.md | 2 +- 2 files changed, 85 insertions(+), 52 deletions(-) diff --git a/docs/en/msg_docs/TransponderReport.md b/docs/en/msg_docs/TransponderReport.md index 9740350484..43d3d7d4dc 100644 --- a/docs/en/msg_docs/TransponderReport.md +++ b/docs/en/msg_docs/TransponderReport.md @@ -4,39 +4,41 @@ pageClass: is-wide-page # TransponderReport (UORB message) +Transponder report. + +ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end. +Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information. + **TOPICS:** transponder_report ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| icao_address | `uint32` | | | ICAO address | -| lat | `float64` | | | Latitude, expressed as degrees | -| lon | `float64` | | | Longitude, expressed as degrees | -| altitude_type | `uint8` | | | Type from ADSB_ALTITUDE_TYPE enum | -| altitude | `float32` | | | Altitude(ASL) in meters | -| heading | `float32` | | | Course over ground in radians, 0 to 2pi, 0 is north | -| hor_velocity | `float32` | | | The horizontal velocity in m/s | -| ver_velocity | `float32` | | | The vertical velocity in m/s, positive is up | -| callsign | `char[9]` | | | The callsign, 8+null | -| emitter_type | `uint8` | | | Type from ADSB_EMITTER_TYPE enum | -| tslc | `uint8` | | | Time since last communication in seconds | -| flags | `uint16` | | | Flags to indicate various statuses including valid data fields | -| squawk | `uint16` | | | Squawk code | -| uas_id | `uint8[18]` | | | Unique UAS ID | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | ----------- | ------------ | --------------------------------------- | ------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| icao_address | `uint32` | | | ICAO address | +| lat | `float64` | deg | | Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS | +| lon | `float64` | deg | | Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS | +| altitude_type | `uint8` | | | Type from ADSB_ALTITUDE_TYPE enum | +| altitude | `float32` | m | | Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE | +| heading | `float32` | rad | | Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING | +| hor_velocity | `float32` | m/s | | Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY | +| ver_velocity | `float32` | m/s | | Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY | +| callsign | `char[9]` | | | The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN | +| emitter_type | `uint8` | | [ADSB_EMITTER_TYPE](#ADSB_EMITTER_TYPE) | Type matching MAVLink's ADSB_EMITTER_TYPE enum | +| tslc | `uint8` | s | | Time since last communication | +| flags | `uint16` | | [PX4_ADSB_FLAGS](#PX4_ADSB_FLAGS) | Flags matching MAVLink's ADSB_FLAGS bitmask | +| squawk | `uint16` | | | Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK | +| uas_id | `uint8[18]` | | | Unique UAS ID, not part of ADSB_VEHICLE MAVLink message | -## Constants +## Enums + +### ADSB_EMITTER_TYPE {#ADSB_EMITTER_TYPE} + +Used in field(s): [emitter_type](#fld_emitter_type) | Name | Type | Value | Description | | ------------------------------------------------------------------------------------- | -------- | ----- | ----------- | -| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | -| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | -| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | -| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | -| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | -| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | -| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | | ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | | ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | | ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | @@ -58,7 +60,29 @@ pageClass: is-wide-page | ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | | ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | | ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | -| ORB_QUEUE_LENGTH | `uint8` | 16 | + +### PX4_ADSB_FLAGS {#PX4_ADSB_FLAGS} + +Used in field(s): [flags](#fld_flags) + +| Name | Type | Value | Description | +| ------------------------------------------------------------------------------------------- | -------- | ----- | ----------- | +| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | +| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | +| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | +| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | +| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | +| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | +| PX4_ADSB_FLAGS_SIMULATED | `uint16` | 64 | +| PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID | `uint16` | 128 | +| PX4_ADSB_FLAGS_BARO_VALID | `uint16` | 256 | +| PX4_ADSB_FLAGS_SOURCE_UAT | `uint16` | 32768 | + +## Constants + +| Name | Type | Value | Description | +| ----------------------------------------------- | ------- | ----- | ----------- | +| ORB_QUEUE_LENGTH | `uint8` | 16 | ## Source Message @@ -67,33 +91,24 @@ pageClass: is-wide-page ::: details Click here to see original file ```c -uint64 timestamp # time since system start (microseconds) -uint32 icao_address # ICAO address -float64 lat # Latitude, expressed as degrees -float64 lon # Longitude, expressed as degrees -uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum -float32 altitude # Altitude(ASL) in meters -float32 heading # Course over ground in radians, 0 to 2pi, 0 is north -float32 hor_velocity # The horizontal velocity in m/s -float32 ver_velocity # The vertical velocity in m/s, positive is up -char[9] callsign # The callsign, 8+null -uint8 emitter_type # Type from ADSB_EMITTER_TYPE enum -uint8 tslc # Time since last communication in seconds -uint16 flags # Flags to indicate various statuses including valid data fields -uint16 squawk # Squawk code -uint8[18] uas_id # Unique UAS ID +# Transponder report +# +# ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end. +# Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information. -# ADSB flags -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 +uint64 timestamp # [us] Time since system start -#ADSB Emitter Data: -#from mavlink/v2.0/common/common.h +uint32 icao_address # [-] ICAO address +float64 lat # [deg] Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS +float64 lon # [deg] Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS +uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum +float32 altitude # [m] Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE +float32 heading # [rad] Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING +float32 hor_velocity # [m/s] Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY +float32 ver_velocity # [m/s] Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY +char[9] callsign # The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN + +uint8 emitter_type # [@enum ADSB_EMITTER_TYPE] Type matching MAVLink's ADSB_EMITTER_TYPE enum uint16 ADSB_EMITTER_TYPE_NO_INFO=0 uint16 ADSB_EMITTER_TYPE_LIGHT=1 uint16 ADSB_EMITTER_TYPE_SMALL=2 @@ -116,6 +131,24 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18 uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19 uint16 ADSB_EMITTER_TYPE_ENUM_END=20 +uint8 tslc # [s] Time since last communication + +uint16 flags # [@enum PX4_ADSB_FLAGS] Flags matching MAVLink's ADSB_FLAGS bitmask +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_SIMULATED = 64 +uint16 PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID = 128 +uint16 PX4_ADSB_FLAGS_BARO_VALID = 256 +uint16 PX4_ADSB_FLAGS_SOURCE_UAT = 32768 + +uint16 squawk # [-] Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK + +uint8[18] uas_id # [-] Unique UAS ID, not part of ADSB_VEHICLE MAVLink message + uint8 ORB_QUEUE_LENGTH = 16 ``` diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index 9b68b3568e..74a5900c1a 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -272,7 +272,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [TiltrotorExtraControls](TiltrotorExtraControls.md) - [TimesyncStatus](TimesyncStatus.md) - [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame. Input to position controller. -- [TransponderReport](TransponderReport.md) +- [TransponderReport](TransponderReport.md) — Transponder report. - [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM. then the frequency, duration are used otherwise those values are ignored. - [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type. - [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type.