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Navigator: Add the ability to do a low-altitude RTL to avoid traffic

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This is a first baseline implementation for collision avoidance with aircraft equipped with transponders. Since the drone-to-drone and drone-to-airplane system will be regulated by a standard, we do carefully avoid to do anything too fancy. This implementation allows to reduce altitude to get close to ground and land immediately or RTL. This is similar to what a human pilot would do and allows to get out of manned airspace which is at higher altitudes.
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Lorenz Meier
2017-10-30 22:41:06 +01:00
parent 330eed2bd6
commit a1a002f9b6
6 changed files with 195 additions and 7 deletions
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msg/transponder_report.msg
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@@ -3,7 +3,7 @@ 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
float32 heading # Course over ground in radians, -pi to +pi, 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