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fix(mavlink): update TransponderReport flag bitmask #27878

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fix(mavlink): update TransponderReport flag bitmask #27878

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10 changes: 8 additions & 2 deletions msg/TransponderReport.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -14,14 +14,20 @@ uint16 flags # Flags to indicate various statuses including valid data fields
uint16 squawk # Squawk code
uint8[18] uas_id # Unique UAS ID

# ADSB flags
# ADSB flags, bit values match MAVLink's ADSB_FLAGS enum (common.xml)
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
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

# PX4-internal flag, not part of the MAVLink ADSB_FLAGS bitmask: uses a bit MAVLink leaves unused
uint16 PX4_ADSB_FLAGS_RETRANSLATE = 512

@MaEtUgR MaEtUgR Jul 14, 2026

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We could make it the last bit (32768) for now to not change value until there's a conflict with the last bit in MAVLink.

@MaEtUgR MaEtUgR Jul 14, 2026

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The last bit is used in MAVLink 🤯 Someone else had the same broken strategy 👀
https://github.com/mavlink/mavlink/blob/f9cb1f9e482977446c3dd953a16368d4834c6aa5/message_definitions/v1.0/common.xml#L3665

Should we make it a separate field to avoid future conflicts or is that overengineered? Let me check 👀

@anilkir anilkir Jul 14, 2026

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Separate field works for me as it avoids any future conflicts with the MAVLink enum. Let me know your final recommendation


#ADSB Emitter Data:
#from mavlink/v2.0/common/common.h
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8 changes: 8 additions & 0 deletions src/modules/mavlink/mavlink_receiver.cpp
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Expand Up @@ -2885,6 +2885,14 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)

if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }

if (adsb.flags & ADSB_FLAGS_SIMULATED) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_SIMULATED; }

if (adsb.flags & ADSB_FLAGS_VERTICAL_VELOCITY_VALID) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID; }

if (adsb.flags & ADSB_FLAGS_BARO_VALID) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_BARO_VALID; }

if (adsb.flags & ADSB_FLAGS_SOURCE_UAT) { t.flags |= transponder_report_s::PX4_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);

_transponder_report_pub.publish(t);
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8 changes: 8 additions & 0 deletions src/modules/mavlink/streams/ADSB_VEHICLE.hpp
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Expand Up @@ -99,6 +99,14 @@ class MavlinkStreamADSBVehicle : public MavlinkStream

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

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_SIMULATED) { msg.flags |= ADSB_FLAGS_SIMULATED; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID) { msg.flags |= ADSB_FLAGS_VERTICAL_VELOCITY_VALID; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_BARO_VALID) { msg.flags |= ADSB_FLAGS_BARO_VALID; }

if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_SOURCE_UAT) { msg.flags |= ADSB_FLAGS_SOURCE_UAT; }

mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
sent = true;
}
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