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fix(mavlink): update TransponderReport flag bitmask#27878

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ak/fix-transponder-adsb-flags
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fix(mavlink): update TransponderReport flag bitmask#27878
anilkir wants to merge 3 commits into
mainfrom
ak/fix-transponder-adsb-flags

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@anilkir

@anilkir anilkir commented Jul 13, 2026

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Solved Problem

TransponderReport.msg is missing MAVLink's SIMULATED, VERTICAL_VELOCITY_VALID, BARO_VALID, and SOURCE_UAT flags entirely (mavlink msg definition). The PX4_ADSB_FLAGS_RETRANSLATE bit (256) also collides with MAVLink's ADSB_FLAGS_BARO_VALID bit at the same value.

Solution

  • Moved PX4_ADSB_FLAGS_RETRANSLATE to bit 512 (unused by MAVLink's ADSB_FLAGS enum), resolving the collision
  • Added the missing flags with correct bit values.
  • Forwarded the new flags in both directions: (uORB → MAVLink) and (MAVLink → uORB).

Changelog Entry

For release notes:

Fix TransponderReport ADS-B flag bitmask to match MAVLink ADSB_FLAGS.

Alternatives

Test coverage

Context

Related links, screenshot before/after, video

@anilkir
anilkir requested a review from MaEtUgR July 13, 2026 02:35
@anilkir anilkir self-assigned this Jul 13, 2026
@github-actions github-actions Bot added kind:bug Something is broken or behaving incorrectly. scope:offboard Offboard mode, external setpoints, companion-computer control, or offboard failsafe behavior. scope:mavlink MAVLink module, streams, commands, or protocol handling. scope:uorb uORB messages, generated interfaces, or message translation. labels Jul 13, 2026
@github-actions

github-actions Bot commented Jul 13, 2026 •
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🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: -184 byte (-0.01 %)] 
    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.0%     +78  [ = ]       0    .debug_abbrev
  +0.0%    +401  [ = ]       0    .debug_info
  -0.0%    -223  [ = ]       0    .debug_line
    [DEL]      -4  [ = ]       0    [Unmapped]
    -0.0%    -219  [ = ]       0    [section .debug_line]
  -0.0%     -13  [ = ]       0    .debug_loclists
  +0.0%      +3  [ = ]       0    .debug_rnglists
  +0.0%    +162  [ = ]       0    .debug_str
  +1.9%    +184  [ = ]       0    [Unmapped]
  -0.0%    -184  -0.0%    -184    .text
   -22.7%     -80 -22.7%     -80    MavlinkReceiver::handle_message_adsb_vehicle()
   -24.5%    -104 -24.5%    -104    MavlinkStreamADSBVehicle::send()
  +0.0%    +408  -0.0%    -184    TOTAL
px4_fmu-v6x [Total VM Diff: -184 byte (-0.01 %)] 
    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.0%     +78  [ = ]       0    .debug_abbrev
  +0.0%    +401  [ = ]       0    .debug_info
  -0.0%    -223  [ = ]       0    .debug_line
   -66.7%      -4  [ = ]       0    [Unmapped]
    -0.0%    -219  [ = ]       0    [section .debug_line]
  -0.0%     -23  [ = ]       0    .debug_loclists
  +0.0%      +1  [ = ]       0    .debug_rnglists
   -66.7%      -2  [ = ]       0    [Unmapped]
    +0.0%      +3  [ = ]       0    [section .debug_rnglists]
  +0.0%    +162  [ = ]       0    .debug_str
  +3.0%    +184  [ = ]       0    [Unmapped]
  -0.0%    -184  -0.0%    -184    .text
   -22.7%     -80 -22.7%     -80    MavlinkReceiver::handle_message_adsb_vehicle()
   -24.5%    -104 -24.5%    -104    MavlinkStreamADSBVehicle::send()
  +0.0%    +396  -0.0%    -184    TOTAL

Updated: 2026-07-16T16:37:00

MaEtUgR
MaEtUgR reviewed Jul 14, 2026
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Comment thread msg/TransponderReport.msg Outdated
@dakejahl
dakejahl requested a review from JonasPerolini July 14, 2026 16:41
@github-actions github-actions Bot added the scope:drivers Device drivers and hardware interfaces. label Jul 16, 2026
@MaEtUgR
MaEtUgR force-pushed the ak/fix-transponder-adsb-flags branch from ebafa04 to b12684a Compare July 16, 2026 12:20
@github-actions github-actions Bot added the scope:navigation Missions, RTL, geofence, takeoff, landing, or navigator behavior. label Jul 16, 2026
MaEtUgR
MaEtUgR previously approved these changes Jul 16, 2026
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@MaEtUgR MaEtUgR left a comment

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Final change:

  • Restructure transponder_report message to:
    • Contain the new flags from MAVLink by @anilkir
    • follow the new parsed message definition style closer with description, units, enum options directly after the field.
  • Remove PX4 internal conflicting RETRANSLATE flag but instead flag fake traffic as SIMULATED and keep behavior to not publish fake data see #27878 (comment)
  • Direct assignment of flags field from/to MAVLink with asserts on the definition
  • Line wrapping and reuse of kDefaultFakeTrafficFlags refactor

Rebased on main after #26815 was merged.

JonasPerolini
JonasPerolini reviewed Jul 16, 2026
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Comment thread src/modules/mavlink/streams/ADSB_VEHICLE.hpp
JonasPerolini
JonasPerolini reviewed Jul 16, 2026
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Comment thread src/modules/navigator/DetectAndAvoid/detect_and_avoid_fake_traffic.cpp Outdated
JonasPerolini
JonasPerolini reviewed Jul 16, 2026
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@JonasPerolini JonasPerolini left a comment •
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lgtm, thanks.

Added two small threads to confirm the intended behavior. Nothing blocking, feel free to close them once acknowledged.

(Sorry for the late review @MaEtUgR and @anilkir)

@anilkir
anilkir requested a review from MaEtUgR July 16, 2026 16:47
@JonasPerolini
JonasPerolini self-requested a review July 16, 2026 16:54
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@JonasPerolini JonasPerolini JonasPerolini approved these changes
@MaEtUgR MaEtUgR Awaiting requested review from MaEtUgR

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@anilkir anilkir

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kind:bug Something is broken or behaving incorrectly. scope:drivers Device drivers and hardware interfaces. scope:mavlink MAVLink module, streams, commands, or protocol handling. scope:navigation Missions, RTL, geofence, takeoff, landing, or navigator behavior. scope:offboard Offboard mode, external setpoints, companion-computer control, or offboard failsafe behavior. scope:uorb uORB messages, generated interfaces, or message translation.

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@anilkir @MaEtUgR @JonasPerolini