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https://github.com/PX4/PX4-Autopilot.git
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93 lines
6.7 KiB
Markdown
93 lines
6.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# DetectAndAvoid (UORB message)
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Detect-and-avoid conflict assessment for one traffic aircraft.
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Detailed per-traffic output from navigator's `DetectAndAvoid` component.
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A sample is published when an evaluated report indicates a conflict or updates
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an aircraft already tracked as a conflict. New reports assessed at NONE are omitted.
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Unlike `detect_and_avoid_most_urgent`, this topic does not summarize the single
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active conflict driving DAA actions or prearm checks. It reports the conflict level
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and geometry for the specific traffic aircraft that was just evaluated.
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Published by: `navigator` (`DetectAndAvoid`)
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Used by: logging and tests
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**TOPICS:** detect_and_avoid
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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` | us | | Time since system start |
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| <a id="fld_unique_id"></a>unique_id | `uint64` | | | Encoded traffic identifier selected in priority order: ICAO address, ADS-B callsign, then reduced UAS ID tail bytes |
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| <a id="fld_unique_id_encoding"></a>unique_id_encoding | `uint8` | | | Namespace used to decode `unique_id` |
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| <a id="fld_conflict_level"></a>conflict_level | `uint8` | | | Conflict level calculated for this traffic aircraft |
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| <a id="fld_aircraft_dist"></a>aircraft_dist | `float32` | m | | Current 3D point-to-point range between ownship and the traffic aircraft |
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| <a id="fld_aircraft_dist_hor"></a>aircraft_dist_hor | `float32` | m [NED] | | Horizontal separation metric. In Crosstrack mode this is the signed crosstrack distance when available, otherwise direct horizontal range |
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| <a id="fld_aircraft_dist_vert"></a>aircraft_dist_vert | `float32` | m [NED] | | Vertical separation between ownship (the current vehicle) and the traffic aircraft |
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| <a id="fld_expected_min_dist_time"></a>expected_min_dist_time | `float32` | s | | Conservative collision-time estimate from current 3D separation and the sum of ownship and traffic speed magnitudes |
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## Constants
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| Name | Type | Value | Description |
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| ------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
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| <a id="#DAA_CONFLICT_LVL_NONE"></a> DAA_CONFLICT_LVL_NONE | `uint8` | 0 |
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| <a id="#DAA_CONFLICT_LVL_LOW"></a> DAA_CONFLICT_LVL_LOW | `uint8` | 1 |
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| <a id="#DAA_CONFLICT_LVL_MEDIUM"></a> DAA_CONFLICT_LVL_MEDIUM | `uint8` | 2 |
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| <a id="#DAA_CONFLICT_LVL_HIGH"></a> DAA_CONFLICT_LVL_HIGH | `uint8` | 3 |
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| <a id="#DAA_CONFLICT_LVL_CRITICAL"></a> DAA_CONFLICT_LVL_CRITICAL | `uint8` | 4 |
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| <a id="#UNIQUE_ID_ENCODING_ICAO"></a> UNIQUE_ID_ENCODING_ICAO | `uint8` | 0 | `unique_id` contains an ICAO address |
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| <a id="#UNIQUE_ID_ENCODING_ADSB_CALLSIGN"></a> UNIQUE_ID_ENCODING_ADSB_CALLSIGN | `uint8` | 1 | `unique_id` contains an ADS-B callsign packed into a `uint64` |
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| <a id="#UNIQUE_ID_ENCODING_UAS_ID"></a> UNIQUE_ID_ENCODING_UAS_ID | `uint8` | 2 | `unique_id` contains the reduced tail bytes of a UAS ID |
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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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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DetectAndAvoid.msg)
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::: details Click here to see original file
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```c
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# Detect-and-avoid conflict assessment for one traffic aircraft.
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#
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# Detailed per-traffic output from navigator's `DetectAndAvoid` component.
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# A sample is published when an evaluated report indicates a conflict or updates
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# an aircraft already tracked as a conflict. New reports assessed at NONE are omitted.
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#
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# Unlike `detect_and_avoid_most_urgent`, this topic does not summarize the single
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# active conflict driving DAA actions or prearm checks. It reports the conflict level
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# and geometry for the specific traffic aircraft that was just evaluated.
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#
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# Published by: `navigator` (`DetectAndAvoid`)
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# Used by: logging and tests
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uint8 DAA_CONFLICT_LVL_NONE = 0
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uint8 DAA_CONFLICT_LVL_LOW = 1
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uint8 DAA_CONFLICT_LVL_MEDIUM = 2
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uint8 DAA_CONFLICT_LVL_HIGH = 3
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uint8 DAA_CONFLICT_LVL_CRITICAL = 4
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uint8 UNIQUE_ID_ENCODING_ICAO = 0 # `unique_id` contains an ICAO address
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uint8 UNIQUE_ID_ENCODING_ADSB_CALLSIGN = 1 # `unique_id` contains an ADS-B callsign packed into a `uint64`
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uint8 UNIQUE_ID_ENCODING_UAS_ID = 2 # `unique_id` contains the reduced tail bytes of a UAS ID
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uint8 ORB_QUEUE_LENGTH = 16
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uint64 timestamp # [us] Time since system start
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uint64 unique_id # [-] Encoded traffic identifier selected in priority order: ICAO address, ADS-B callsign, then reduced UAS ID tail bytes
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uint8 unique_id_encoding # [-] Namespace used to decode `unique_id`
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uint8 conflict_level # [-] Conflict level calculated for this traffic aircraft
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float32 aircraft_dist # [m] Current 3D point-to-point range between ownship and the traffic aircraft
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float32 aircraft_dist_hor # [m] [@frame NED] Horizontal separation metric. In Crosstrack mode this is the signed crosstrack distance when available, otherwise direct horizontal range
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float32 aircraft_dist_vert # [m] [@frame NED] Vertical separation between ownship (the current vehicle) and the traffic aircraft
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float32 expected_min_dist_time # [s] Conservative collision-time estimate from current 3D separation and the sum of ownship and traffic speed magnitudes
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```
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:::
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