Skip to content

fix(mavlink): update TransponderReport flag bitmask #27878

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
anilkir wants to merge 3 commits into
base: main
Choose a base branch
from
Open

fix(mavlink): update TransponderReport flag bitmask #27878

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
4f6fb2e
fix(mavlink): update TransponderReport flag bitmask
anilkir Jul 13, 2026
b12684a
fix(TransponderReport): revise message structure and make dependenci…
MaEtUgR Jul 16, 2026
a14ae48
fix(detect_and_avoid): enforce SIMULATED flag in fake_traffic()
anilkir Jul 16, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
61 changes: 35 additions & 26 deletions msg/TransponderReport.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,30 +1,21 @@
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

# 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
# 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.

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
Expand All @@ -47,4 +38,22 @@ 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
2 changes: 0 additions & 2 deletions src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -588,7 +588,6 @@ void SagetechMXS::handle_svr(sg_svr_t svr)

t.timestamp = hrt_absolute_time();
t.flags &= ~transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK;
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE;

//Set data from svr message
if (svr.validity.position) {
Expand Down Expand Up @@ -649,7 +648,6 @@ void SagetechMXS::handle_msr(sg_msr_t msr)
}

t.timestamp = hrt_absolute_time();
t.flags |= transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE;

if (strlen(msr.callsign)) {
snprintf(t.callsign, sizeof(t.callsign), "%-8s", msr.callsign);
Expand Down
24 changes: 11 additions & 13 deletions src/modules/mavlink/mavlink_receiver.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2871,19 +2871,17 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
t.tslc = adsb.tslc;
t.squawk = adsb.squawk;

t.flags = transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE; //Unset in receiver already broadcast its messages

if (adsb.flags & ADSB_FLAGS_VALID_COORDS) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; }

if (adsb.flags & ADSB_FLAGS_VALID_ALTITUDE) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; }

if (adsb.flags & ADSB_FLAGS_VALID_HEADING) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; }

if (adsb.flags & ADSB_FLAGS_VALID_VELOCITY) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; }

if (adsb.flags & ADSB_FLAGS_VALID_CALLSIGN) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; }

if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }
t.flags = adsb.flags; // The PX4_ADSB_FLAGS_* bit values are defined to be identical to MAVLink's ADSB_FLAGS bitmask (see TransponderReport.msg),
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS == ADSB_FLAGS_VALID_COORDS);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE == ADSB_FLAGS_VALID_ALTITUDE);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING == ADSB_FLAGS_VALID_HEADING);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY == ADSB_FLAGS_VALID_VELOCITY);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN == ADSB_FLAGS_VALID_CALLSIGN);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK == ADSB_FLAGS_VALID_SQUAWK);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_SIMULATED == ADSB_FLAGS_SIMULATED);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID == ADSB_FLAGS_VERTICAL_VELOCITY_VALID);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_BARO_VALID == ADSB_FLAGS_BARO_VALID);
static_assert(transponder_report_s::PX4_ADSB_FLAGS_SOURCE_UAT == 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);

Expand Down
17 changes: 2 additions & 15 deletions src/modules/mavlink/streams/ADSB_VEHICLE.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ class MavlinkStreamADSBVehicle : public MavlinkStream

while ((_mavlink->get_free_tx_buf() >= get_size()) && _transponder_report_sub.update(&pos)) {

if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) {
Comment thread
anilkir marked this conversation as resolved.
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_SIMULATED) {
continue;
}

Expand All @@ -84,20 +84,7 @@ class MavlinkStreamADSBVehicle : public MavlinkStream
msg.emitter_type = pos.emitter_type;
msg.tslc = pos.tslc;
msg.squawk = pos.squawk;

msg.flags = 0;

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
msg.flags = pos.flags;

mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
sent = true;
Expand Down
5 changes: 2 additions & 3 deletions src/modules/navigator/DetectAndAvoid/detect_and_avoid.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -624,14 +624,13 @@ void DetectAndAvoid::debug_print_transponder_report(const transponder_report_s &
uas_id_char);

// Log which flags are enabled in one line using printf
PX4_DEBUG("ADSB_IN: Flags missing: %s%s%s%s%s%s%s",
PX4_DEBUG("ADSB_IN: Flags missing: %s%s%s%s%s%s",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) ? "" : "coord ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) ? "" : "alt ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) ? "" : "hdg ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) ? "" : "vel ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) ? "" : "callsign ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) ? "" : "squawk ",
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE) ? "" : "Retranslate ");
(transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) ? "" : "squawk ");

PX4_DEBUG("ADSB_IN: lat %.2f, lon %.2f, alt %.2f, hdg %.d, vel hor %.1f, vel vert %.1f \n",
(double)transponder_report.lat,
Expand Down
3 changes: 2 additions & 1 deletion src/modules/navigator/DetectAndAvoid/detect_and_avoid.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,8 @@ class DetectAndAvoid : public MissionBlock, public ModuleParams
transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY |
transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE |
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN;
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN |
transponder_report_s::PX4_ADSB_FLAGS_SIMULATED;

// Fake traffic scripts used for manual DAA validation from the navigator shell.
enum class FakeTraffMode : uint8_t {
Expand Down
20 changes: 5 additions & 15 deletions src/modules/navigator/DetectAndAvoid/detect_and_avoid_fake_traffic.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,16 +52,8 @@ namespace
// stores the selected mode and an ownship position snapshot; `process_fake_traffic()`
// later publishes the scripted reports that are due from the navigator update loop.
static constexpr uint16_t kDefaultFakeTrafficFlags = DetectAndAvoid::kFakeTrafficDefaultFlags;

static constexpr uint16_t kCallsignNotValidFlags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS |
transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY |
transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;

static constexpr uint16_t kVelocityNotValidFlags = transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS |
transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING |
transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE |
transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN;
static constexpr uint16_t kCallsignNotValidFlags = kDefaultFakeTrafficFlags & ~transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN;
static constexpr uint16_t kVelocityNotValidFlags = kDefaultFakeTrafficFlags & ~transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;

// Publish one final far-away sample to clear the same traffic entry cleanly.
static constexpr float kFakeTrafficResolveDistance = 5000.f;
Expand Down Expand Up @@ -184,8 +176,7 @@ static constexpr fake_traffic_script_step_s kFlagsScript[] {
};

template <size_t N>
bool get_script_step(const fake_traffic_script_step_s(&script)[N], const uint8_t step_idx,
fake_traffic_script_step_s &step)
bool get_script_step(const fake_traffic_script_step_s(&script)[N], const uint8_t step_idx, fake_traffic_script_step_s &step)
{
if (step_idx >= N) {
return false;
Expand Down Expand Up @@ -282,8 +273,7 @@ const char *fake_traffic_mode_to_string(const DetectAndAvoid::FakeTraffMode mode
}
}

bool get_fake_traffic_step(const DetectAndAvoid::FakeTraffMode mode, const uint8_t step_idx,
fake_traffic_script_step_s &step)
bool get_fake_traffic_step(const DetectAndAvoid::FakeTraffMode mode, const uint8_t step_idx, fake_traffic_script_step_s &step)
{
switch (mode) {
case DetectAndAvoid::FakeTraffMode::kUniqueIds:
Expand Down Expand Up @@ -455,7 +445,7 @@ void DetectAndAvoid::fake_traffic(const SyntheticTrafficReport &report)
tr.callsign[sizeof(tr.callsign) - 1] = 0;
tr.emitter_type = report.emitter_type;
tr.tslc = 2; // seconds since last communication
tr.flags = report.flags;
tr.flags = report.flags | transponder_report_s::PX4_ADSB_FLAGS_SIMULATED;
tr.squawk = 6667;

#ifndef BOARD_HAS_NO_UUID
Expand Down
Loading