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@@ -4,39 +4,41 @@ pageClass: is-wide-page
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# TransponderReport (UORB message)
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Transponder report.
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ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end.
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Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information.
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**TOPICS:** transponder_report
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ------------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| ------------------------------------------- | ----------- | ------------ | --------------------------------------- | ------------------------------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
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| <a id="fld_icao_address"></a>icao_address | `uint32` | | | ICAO address |
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| <a id="fld_lat"></a>lat | `float64` | | | Latitude, expressed as degrees |
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| <a id="fld_lon"></a>lon | `float64` | | | Longitude, expressed as degrees |
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| <a id="fld_lat"></a>lat | `float64` | deg | | Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS |
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| <a id="fld_lon"></a>lon | `float64` | deg | | Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS |
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| <a id="fld_altitude_type"></a>altitude_type | `uint8` | | | Type from ADSB_ALTITUDE_TYPE enum |
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| <a id="fld_altitude"></a>altitude | `float32` | | | Altitude(ASL) in meters |
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| <a id="fld_heading"></a>heading | `float32` | | | Course over ground in radians, 0 to 2pi, 0 is north |
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| <a id="fld_hor_velocity"></a>hor_velocity | `float32` | | | The horizontal velocity in m/s |
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| <a id="fld_ver_velocity"></a>ver_velocity | `float32` | | | The vertical velocity in m/s, positive is up |
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| <a id="fld_callsign"></a>callsign | `char[9]` | | | The callsign, 8+null |
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| <a id="fld_emitter_type"></a>emitter_type | `uint8` | | | Type from ADSB_EMITTER_TYPE enum |
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| <a id="fld_tslc"></a>tslc | `uint8` | | | Time since last communication in seconds |
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| <a id="fld_flags"></a>flags | `uint16` | | | Flags to indicate various statuses including valid data fields |
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| <a id="fld_squawk"></a>squawk | `uint16` | | | Squawk code |
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| <a id="fld_uas_id"></a>uas_id | `uint8[18]` | | | Unique UAS ID |
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| <a id="fld_altitude"></a>altitude | `float32` | m | | Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE |
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| <a id="fld_heading"></a>heading | `float32` | rad | | Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING |
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| <a id="fld_hor_velocity"></a>hor_velocity | `float32` | m/s | | Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY |
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| <a id="fld_ver_velocity"></a>ver_velocity | `float32` | m/s | | Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY |
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| <a id="fld_callsign"></a>callsign | `char[9]` | | | The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN |
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| <a id="fld_emitter_type"></a>emitter_type | `uint8` | | [ADSB_EMITTER_TYPE](#ADSB_EMITTER_TYPE) | Type matching MAVLink's ADSB_EMITTER_TYPE enum |
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| <a id="fld_tslc"></a>tslc | `uint8` | s | | Time since last communication |
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| <a id="fld_flags"></a>flags | `uint16` | | [PX4_ADSB_FLAGS](#PX4_ADSB_FLAGS) | Flags matching MAVLink's ADSB_FLAGS bitmask |
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| <a id="fld_squawk"></a>squawk | `uint16` | | | Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK |
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| <a id="fld_uas_id"></a>uas_id | `uint8[18]` | | | Unique UAS ID, not part of ADSB_VEHICLE MAVLink message |
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## Constants
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## Enums
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### ADSB_EMITTER_TYPE {#ADSB_EMITTER_TYPE}
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Used in field(s): [emitter_type](#fld_emitter_type)
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| Name | Type | Value | Description |
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| ------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#PX4_ADSB_FLAGS_VALID_COORDS"></a> PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 |
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| <a id="#PX4_ADSB_FLAGS_VALID_ALTITUDE"></a> PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 |
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| <a id="#PX4_ADSB_FLAGS_VALID_HEADING"></a> PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 |
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| <a id="#PX4_ADSB_FLAGS_VALID_VELOCITY"></a> PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 |
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| <a id="#PX4_ADSB_FLAGS_VALID_CALLSIGN"></a> PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 |
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| <a id="#PX4_ADSB_FLAGS_VALID_SQUAWK"></a> PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 |
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| <a id="#PX4_ADSB_FLAGS_RETRANSLATE"></a> PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 |
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| <a id="#ADSB_EMITTER_TYPE_NO_INFO"></a> ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 |
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| <a id="#ADSB_EMITTER_TYPE_LIGHT"></a> ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 |
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| <a id="#ADSB_EMITTER_TYPE_SMALL"></a> ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 |
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@@ -58,6 +60,28 @@ pageClass: is-wide-page
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| <a id="#ADSB_EMITTER_TYPE_SERVICE_SURFACE"></a> ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 |
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| <a id="#ADSB_EMITTER_TYPE_POINT_OBSTACLE"></a> ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 |
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| <a id="#ADSB_EMITTER_TYPE_ENUM_END"></a> ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 |
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### PX4_ADSB_FLAGS {#PX4_ADSB_FLAGS}
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Used in field(s): [flags](#fld_flags)
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| Name | Type | Value | Description |
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| ------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#PX4_ADSB_FLAGS_VALID_COORDS"></a> PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 |
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| <a id="#PX4_ADSB_FLAGS_VALID_ALTITUDE"></a> PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 |
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| <a id="#PX4_ADSB_FLAGS_VALID_HEADING"></a> PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 |
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| <a id="#PX4_ADSB_FLAGS_VALID_VELOCITY"></a> PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 |
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| <a id="#PX4_ADSB_FLAGS_VALID_CALLSIGN"></a> PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 |
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| <a id="#PX4_ADSB_FLAGS_VALID_SQUAWK"></a> PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 |
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| <a id="#PX4_ADSB_FLAGS_SIMULATED"></a> PX4_ADSB_FLAGS_SIMULATED | `uint16` | 64 |
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| <a id="#PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID"></a> PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID | `uint16` | 128 |
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| <a id="#PX4_ADSB_FLAGS_BARO_VALID"></a> PX4_ADSB_FLAGS_BARO_VALID | `uint16` | 256 |
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| <a id="#PX4_ADSB_FLAGS_SOURCE_UAT"></a> PX4_ADSB_FLAGS_SOURCE_UAT | `uint16` | 32768 |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------------------- | ------- | ----- | ----------- |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 |
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## Source Message
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@@ -67,33 +91,24 @@ pageClass: is-wide-page
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint32 icao_address # ICAO address
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float64 lat # Latitude, expressed as degrees
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float64 lon # Longitude, expressed as degrees
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# Transponder report
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#
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# ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end.
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# Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information.
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uint64 timestamp # [us] Time since system start
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uint32 icao_address # [-] ICAO address
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float64 lat # [deg] Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
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float64 lon # [deg] Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
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uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
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float32 altitude # Altitude(ASL) in meters
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float32 heading # Course over ground in radians, 0 to 2pi, 0 is north
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float32 hor_velocity # The horizontal velocity in m/s
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float32 ver_velocity # The vertical velocity in m/s, positive is up
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char[9] callsign # The callsign, 8+null
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uint8 emitter_type # Type from ADSB_EMITTER_TYPE enum
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uint8 tslc # Time since last communication in seconds
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uint16 flags # Flags to indicate various statuses including valid data fields
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uint16 squawk # Squawk code
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uint8[18] uas_id # Unique UAS ID
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float32 altitude # [m] Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE
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float32 heading # [rad] Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING
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float32 hor_velocity # [m/s] Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
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float32 ver_velocity # [m/s] Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
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char[9] callsign # The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN
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# ADSB flags
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uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
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uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
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uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
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uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
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uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
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uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
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uint16 PX4_ADSB_FLAGS_RETRANSLATE = 256
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#ADSB Emitter Data:
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#from mavlink/v2.0/common/common.h
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uint8 emitter_type # [@enum ADSB_EMITTER_TYPE] Type matching MAVLink's ADSB_EMITTER_TYPE enum
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uint16 ADSB_EMITTER_TYPE_NO_INFO=0
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uint16 ADSB_EMITTER_TYPE_LIGHT=1
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uint16 ADSB_EMITTER_TYPE_SMALL=2
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@@ -116,6 +131,24 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
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uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
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uint16 ADSB_EMITTER_TYPE_ENUM_END=20
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uint8 tslc # [s] Time since last communication
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uint16 flags # [@enum PX4_ADSB_FLAGS] Flags matching MAVLink's ADSB_FLAGS bitmask
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uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
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uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
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uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
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uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
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uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
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uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
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uint16 PX4_ADSB_FLAGS_SIMULATED = 64
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uint16 PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID = 128
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uint16 PX4_ADSB_FLAGS_BARO_VALID = 256
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uint16 PX4_ADSB_FLAGS_SOURCE_UAT = 32768
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uint16 squawk # [-] Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK
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uint8[18] uas_id # [-] Unique UAS ID, not part of ADSB_VEHICLE MAVLink message
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uint8 ORB_QUEUE_LENGTH = 16
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```
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@@ -272,7 +272,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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- [TiltrotorExtraControls](TiltrotorExtraControls.md)
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- [TimesyncStatus](TimesyncStatus.md)
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- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame. Input to position controller.
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- [TransponderReport](TransponderReport.md)
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- [TransponderReport](TransponderReport.md) — Transponder report.
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- [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.
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- [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type.
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- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type.
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