FGFS-4.1/gr-air-modes
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Backport Flightgear server from private tx branch, collapse commits.

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* Added Flightgear multiplayer output interface to uhd_modes.py. This allows flight with live traffic in fgfs.
* Quaternion library borrowed from PyPi and modified to generate angle/axis representation and construct rotation quat from lat/lon to ECEF.
* Miscellaneous enhancements and cleanup to fix timestamps, add aircraft type field (seems to be unused anyway), turnrate info
This commit is contained in:
Nick Foster
2012-06-13 07:49:22 -07:00
parent c16886c4c1
commit 17f7cb9a53
13 changed files with 567 additions and 133 deletions
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63
python/modes_parse.py
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@@ -1,5 +1,5 @@
#
# Copyright 2010 Nick Foster
# Copyright 2010, 2012 Nick Foster
#
# This file is part of gr-air-modes
#
@@ -23,15 +23,15 @@
import time, os, sys
from string import split, join
from altitude import decode_alt
from cpr import cpr_decoder
import cpr
import math
class modes_parse:
def __init__(self, mypos):
self.my_location = mypos
self.cpr = cpr_decoder(self.my_location)
self.cpr = cpr.cpr_decoder(self.my_location)
def parse0(self, shortdata, parity, ecc):
def parse0(self, shortdata):
# shortdata = long(shortdata, 16)
#parity = long(parity)
@@ -45,7 +45,7 @@ class modes_parse:
return [vs, cc, sl, ri, altitude]
def parse4(self, shortdata, parity, ecc):
def parse4(self, shortdata):
# shortdata = long(shortdata, 16)
fs = shortdata >> 24 & 0x07 #flight status: 0 is airborne normal, 1 is ground normal, 2 is airborne alert, 3 is ground alert, 4 is alert SPI, 5 is normal SPI
dr = shortdata >> 19 & 0x1F #downlink request: 0 means no req, bit 0 is Comm-B msg rdy bit, bit 1 is TCAS info msg rdy, bit 2 is Comm-B bcast #1 msg rdy, bit2+bit0 is Comm-B bcast #2 msg rdy,
@@ -58,7 +58,7 @@ class modes_parse:
def parse5(self, shortdata, parity, ecc):
def parse5(self, shortdata):
# shortdata = long(shortdata, 16)
fs = shortdata >> 24 & 0x07 #flight status: 0 is airborne normal, 1 is ground normal, 2 is airborne alert, 3 is ground alert, 4 is alert SPI, 5 is normal SPI
dr = shortdata >> 19 & 0x1F #downlink request: 0 means no req, bit 0 is Comm-B msg rdy bit, bit 1 is TCAS info msg rdy, bit 2 is Comm-B bcast #1 msg rdy, bit2+bit0 is Comm-B bcast #2 msg rdy,
@@ -67,7 +67,7 @@ class modes_parse:
return [fs, dr, um]
def parse11(self, shortdata, parity, ecc):
def parse11(self, shortdata, ecc):
# shortdata = long(shortdata, 16)
interrogator = ecc & 0x0F
@@ -76,15 +76,7 @@ class modes_parse:
return [icao24, interrogator, ca]
#def parse17(self, shortdata, longdata, parity, ecc):
# shortdata = long(shortdata, 16)
# longdata = long(longdata, 16)
# parity = long(parity, 16)
# ecc = long(ecc, 16)
# subtype = (longdata >> 51) & 0x1F;
#the subtypes are:
#the Type 17 subtypes are:
#0: No position information
#1: Identification (Category set D)
#2: Identification (Category set C)
@@ -108,26 +100,16 @@ class modes_parse:
#30: Aircraft operational coordination
#31: Aircraft operational status
categories = [["NO INFO", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED"],\
["NO INFO", "SURFACE EMERGENCY VEHICLE", "SURFACE SERVICE VEHICLE", "FIXED OBSTRUCTION", "RESERVED", "RESERVED", "RESERVED"],\
["NO INFO", "GLIDER", "BALLOON/BLIMP", "PARACHUTE", "ULTRALIGHT", "RESERVED", "UAV", "SPACECRAFT"],\
["NO INFO", "LIGHT", "SMALL", "LARGE", "LARGE HIGH VORTEX", "HEAVY", "HIGH PERFORMANCE", "ROTORCRAFT"]]
# if subtype == 4:
# retstr = parseBDS08(shortdata, longdata, parity, ecc)
# elif subtype >= 9 and subtype <= 18:
# retstr = parseBDS05(shortdata, longdata, parity, ecc)
# elif subtype == 19:
# subsubtype = (longdata >> 48) & 0x07
# if subsubtype == 0:
# retstr = parseBDS09_0(shortdata, longdata, parity, ecc)
# elif subsubtype == 1:
# retstr = parseBDS09_1(shortdata, longdata, parity, ecc)
# else:
# retstr = "BDS09 subtype " + str(subsubtype) + " not implemented"
# else:
# retstr = "Type 17, subtype " + str(subtype) + " not implemented"
# return retstr
def parseBDS08(self, shortdata, longdata, parity, ecc):
def parseBDS08(self, shortdata, longdata):
icao24 = shortdata & 0xFFFFFF
subtype = (longdata >> 51) & 0x1F
category = (longdata >> 48) & 0x07
catstring = self.categories[subtype-1][category]
msg = ""
for i in range(0, 8):
@@ -135,7 +117,7 @@ class modes_parse:
#retstr = "Type 17 subtype 04 (ident) from " + "%x" % icao24 + " with data " + msg
return msg
return (msg, catstring)
def charmap(self, d):
if d > 0 and d < 27:
@@ -149,7 +131,7 @@ class modes_parse:
return retval
def parseBDS05(self, shortdata, longdata, parity, ecc):
def parseBDS05(self, shortdata, longdata):
icao24 = shortdata & 0xFFFFFF
encoded_lon = longdata & 0x1FFFF
@@ -166,7 +148,7 @@ class modes_parse:
#welp turns out it looks like there's only 17 bits in the BDS0,6 ground packet after all.
def parseBDS06(self, shortdata, longdata, parity, ecc):
def parseBDS06(self, shortdata, longdata):
icao24 = shortdata & 0xFFFFFF
encoded_lon = longdata & 0x1FFFF
@@ -181,7 +163,7 @@ class modes_parse:
return [altitude, decoded_lat, decoded_lon, rnge, bearing]
def parseBDS09_0(self, shortdata, longdata, parity, ecc):
def parseBDS09_0(self, shortdata, longdata):
icao24 = shortdata & 0xFFFFFF
vert_spd = ((longdata >> 6) & 0x1FF) * 32
ud = bool((longdata >> 15) & 1)
@@ -209,9 +191,9 @@ class modes_parse:
#retstr = "Type 17 subtype 09-0 (track report) from " + "%x" % icao24 + " with velocity " + "%.0f" % velocity + "kt heading " + "%.0f" % heading + " VS " + "%.0f" % vert_spd
return [velocity, heading, vert_spd]
return [velocity, heading, vert_spd, turn_rate]
def parseBDS09_1(self, shortdata, longdata, parity, ecc):
def parseBDS09_1(self, shortdata, longdata):
icao24 = shortdata & 0xFFFFFF
alt_geo_diff = longdata & 0x7F - 1
above_below = bool((longdata >> 7) & 1)
@@ -253,3 +235,4 @@ class modes_parse:
#retstr = "Type 17 subtype 09-1 (track report) from " + "%x" % icao24 + " with velocity " + "%.0f" % velocity + "kt heading " + "%.0f" % heading + " VS " + "%.0f" % vert_spd
return [velocity, heading, vert_spd]