WIP big rewrite of message decoding / aircraft tracking.
This commit is contained in:
Oliver Jowett
parent
f152bf633e
commit
54ca2c7fb2
9 changed files with 1313 additions and 959 deletions
407
track.c
407
track.c
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@ -2,7 +2,7 @@
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//
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// track.c: aircraft state tracking
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//
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// Copyright (c) 2014,2015 Oliver Jowett <oliver@mutability.co.uk>
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// Copyright (c) 2014-2016 Oliver Jowett <oliver@mutability.co.uk>
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//
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// This file is free software: you may copy, redistribute and/or modify it
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// under the terms of the GNU General Public License as published by the
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@ -48,6 +48,7 @@
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "dump1090.h"
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#include <inttypes.h>
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/* #define DEBUG_CPR_CHECKS */
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@ -74,7 +75,7 @@ struct aircraft *trackCreateAircraft(struct modesMessage *mm) {
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// time this ModeA/C is received again in the future
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if (mm->msgtype == 32) {
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a->modeACflags = MODEAC_MSG_FLAG;
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if (!(mm->bFlags & MODES_ACFLAGS_ALTITUDE_VALID)) {
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if (!mm->altitude_valid) {
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a->modeACflags |= MODEAC_MSG_MODEA_ONLY;
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}
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}
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@ -103,6 +104,51 @@ struct aircraft *trackFindAircraft(uint32_t addr) {
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return (NULL);
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}
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// Should we accept some new data from the given source?
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// If so, update the validity and return 1
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static int accept_data(data_validity *d, datasource_t source, uint64_t now)
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{
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if (source < d->source && now < d->stale)
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return 0;
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d->source = source;
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d->updated = now;
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d->stale = now + 60000;
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d->expires = now + 70000;
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return 1;
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}
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// Given two datasources, produce a third datasource for data combined from them.
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static void combine_validity(data_validity *to, const data_validity *from1, const data_validity *from2) {
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if (from1->source == SOURCE_INVALID) {
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*to = *from2;
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return;
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}
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if (from2->source == SOURCE_INVALID) {
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*to = *from1;
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return;
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}
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to->source = (from1->source < from2->source) ? from1->source : from2->source; // the worse of the two input sources
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to->updated = (from1->updated > from2->updated) ? from1->updated : from2->updated; // the *later* of the two update times
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to->stale = (from1->stale < from2->stale) ? from1->stale : from2->stale; // the earlier of the two stale times
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to->expires = (from1->expires < from2->expires) ? from1->expires : from2->expires; // the earlier of the two expiry times
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}
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static int compare_validity(const data_validity *lhs, const data_validity *rhs, uint64_t now) {
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if (now < lhs->stale && lhs->source > rhs->source)
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return 1;
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else if (now < rhs->stale && lhs->source < rhs->source)
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return -1;
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else if (lhs->updated > rhs->updated)
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return 1;
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else if (lhs->updated < rhs->updated)
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return -1;
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else
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return 0;
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}
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//
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// CPR position updating
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//
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@ -149,7 +195,7 @@ static void update_range_histogram(double lat, double lon)
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// return true if it's OK for the aircraft to have travelled from its last known position
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// to a new position at (lat,lon,surface) at a time of now.
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static int speed_check(struct aircraft *a, struct modesMessage *mm, double lat, double lon, uint64_t now, int surface)
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static int speed_check(struct aircraft *a, double lat, double lon, uint64_t now, int surface)
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{
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uint64_t elapsed;
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double distance;
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@ -157,17 +203,17 @@ static int speed_check(struct aircraft *a, struct modesMessage *mm, double lat,
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int speed;
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int inrange;
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if (!(a->bFlags & MODES_ACFLAGS_LATLON_VALID))
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if (!trackDataValid(&a->position_valid))
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return 1; // no reference, assume OK
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elapsed = now - a->seenLatLon;
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elapsed = trackDataAge(&a->position_valid, now);
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if ((mm->bFlags & MODES_ACFLAGS_SPEED_VALID) && (a->bFlags & MODES_ACFLAGS_SPEED_VALID))
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speed = (mm->velocity + a->speed) / 2;
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else if (mm->bFlags & MODES_ACFLAGS_SPEED_VALID)
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speed = mm->velocity;
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else if ((a->bFlags & MODES_ACFLAGS_SPEED_VALID) && (now - a->seenSpeed) < 30000)
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if (trackDataValid(&a->speed_valid))
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speed = a->speed;
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else if (trackDataValid(&a->speed_ias_valid))
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speed = a->speed_ias * 4 / 3;
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else if (trackDataValid(&a->speed_tas_valid))
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speed = a->speed_tas * 4 / 3;
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else
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speed = surface ? 100 : 600; // guess
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@ -207,17 +253,17 @@ static int speed_check(struct aircraft *a, struct modesMessage *mm, double lat,
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static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now, double *lat, double *lon, unsigned *nuc)
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{
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int result;
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int fflag = (mm->bFlags & MODES_ACFLAGS_LLODD_VALID) != 0;
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int surface = (mm->bFlags & MODES_ACFLAGS_AOG) != 0;
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int fflag = mm->cpr_odd;
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int surface = (mm->airground == AG_GROUND);
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*nuc = (a->even_cprnuc < a->odd_cprnuc ? a->even_cprnuc : a->odd_cprnuc); // worst of the two positions
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*nuc = (a->cpr_even_nuc < a->cpr_odd_nuc ? a->cpr_even_nuc : a->cpr_odd_nuc); // worst of the two positions
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if (surface) {
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// surface global CPR
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// find reference location
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double reflat, reflon;
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if (a->bFlags & MODES_ACFLAGS_LATLON_REL_OK) { // Ok to try aircraft relative first
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if (trackDataValidEx(&a->position_valid, now, 50000, SOURCE_INVALID) <= 50000) { // Ok to try aircraft relative first
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reflat = a->lat;
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reflon = a->lon;
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if (a->pos_nuc < *nuc)
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@ -231,27 +277,25 @@ static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now
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}
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result = decodeCPRsurface(reflat, reflon,
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a->even_cprlat, a->even_cprlon,
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a->odd_cprlat, a->odd_cprlon,
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a->cpr_even_lat, a->cpr_even_lon,
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a->cpr_odd_lat, a->cpr_odd_lon,
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fflag,
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lat, lon);
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} else {
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// airborne global CPR
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result = decodeCPRairborne(a->even_cprlat, a->even_cprlon,
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a->odd_cprlat, a->odd_cprlon,
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result = decodeCPRairborne(a->cpr_even_lat, a->cpr_even_lon,
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a->cpr_odd_lat, a->cpr_odd_lon,
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fflag,
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lat, lon);
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}
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if (result < 0) {
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#ifdef DEBUG_CPR_CHECKS
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if (mm->bFlags & MODES_ACFLAGS_FROM_MLAT) {
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fprintf(stderr, "CPR: decode failure from MLAT (%06X) (%d).\n", a->addr, result);
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fprintf(stderr, " even: %d %d odd: %d %d fflag: %s\n",
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a->even_cprlat, a->even_cprlon,
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a->odd_cprlat, a->odd_cprlon,
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fflag ? "odd" : "even");
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}
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fprintf(stderr, "CPR: decode failure for %06X (%d).\n", a->addr, result);
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fprintf(stderr, " even: %d %d odd: %d %d fflag: %s\n",
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a->cpr_even_lat, a->cpr_even_lon,
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a->cpr_odd_lat, a->cpr_odd_lon,
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fflag ? "odd" : "even");
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#endif
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return result;
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}
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@ -271,11 +315,11 @@ static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now
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}
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// for mlat results, skip the speed check
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if (mm->bFlags & MODES_ACFLAGS_FROM_MLAT)
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if (mm->source == SOURCE_MLAT)
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return result;
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// check speed limit
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if ((a->bFlags & MODES_ACFLAGS_LATLON_VALID) && a->pos_nuc >= *nuc && !speed_check(a, mm, *lat, *lon, now, surface)) {
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if (trackDataValid(&a->position_valid) && a->pos_nuc >= *nuc && !speed_check(a, *lat, *lon, now, surface)) {
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Modes.stats_current.cpr_global_speed_checks++;
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return -2;
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}
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@ -290,12 +334,12 @@ static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now,
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double reflat, reflon;
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double range_limit = 0;
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int result;
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int fflag = (mm->bFlags & MODES_ACFLAGS_LLODD_VALID) != 0;
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int surface = (mm->bFlags & MODES_ACFLAGS_AOG) != 0;
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int fflag = mm->cpr_odd;
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int surface = (mm->airground == AG_GROUND);
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*nuc = mm->nuc_p;
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*nuc = mm->cpr_nucp;
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if (a->bFlags & MODES_ACFLAGS_LATLON_REL_OK) {
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if (trackDataValidEx(&a->position_valid, now, 50000, SOURCE_INVALID)) {
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reflat = a->lat;
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reflon = a->lon;
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@ -331,12 +375,13 @@ static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now,
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}
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result = decodeCPRrelative(reflat, reflon,
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mm->raw_latitude,
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mm->raw_longitude,
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mm->cpr_lat,
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mm->cpr_lon,
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fflag, surface,
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lat, lon);
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if (result < 0)
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if (result < 0) {
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return result;
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}
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// check range limit
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if (range_limit > 0) {
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@ -348,7 +393,10 @@ static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now,
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}
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// check speed limit
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if ((a->bFlags & MODES_ACFLAGS_LATLON_VALID) && a->pos_nuc >= *nuc && !speed_check(a, mm, *lat, *lon, now, surface)) {
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if (trackDataValid(&a->position_valid) && a->pos_nuc >= *nuc && !speed_check(a, *lat, *lon, now, surface)) {
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#ifdef DEBUG_CPR_CHECKS
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fprintf(stderr, "Speed check for %06X with local decoding failed\n", a->addr);
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#endif
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Modes.stats_current.cpr_local_speed_checks++;
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return -1;
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}
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@ -356,73 +404,62 @@ static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, uint64_t now,
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return 0;
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}
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static uint64_t time_between(uint64_t t1, uint64_t t2)
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{
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if (t1 >= t2)
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return t1 - t2;
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else
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return t2 - t1;
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}
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static void updatePosition(struct aircraft *a, struct modesMessage *mm, uint64_t now)
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{
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int location_result = -1;
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int max_elapsed;
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uint64_t max_elapsed;
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double new_lat = 0, new_lon = 0;
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unsigned new_nuc = 0;
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int surface;
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if (mm->bFlags & MODES_ACFLAGS_AOG)
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surface = (mm->airground == AG_GROUND);
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if (surface) {
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++Modes.stats_current.cpr_surface;
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else
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++Modes.stats_current.cpr_airborne;
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if (mm->bFlags & MODES_ACFLAGS_AOG) {
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// Surface: 25 seconds if >25kt or speed unknown, 50 seconds otherwise
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if ((mm->bFlags & MODES_ACFLAGS_SPEED_VALID) && mm->velocity <= 25)
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if (mm->speed_valid && mm->speed <= 25)
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max_elapsed = 50000;
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else
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max_elapsed = 25000;
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} else {
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++Modes.stats_current.cpr_airborne;
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// Airborne: 10 seconds
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max_elapsed = 10000;
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}
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if (mm->bFlags & MODES_ACFLAGS_LLODD_VALID) {
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a->odd_cprnuc = mm->nuc_p;
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a->odd_cprlat = mm->raw_latitude;
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a->odd_cprlon = mm->raw_longitude;
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a->odd_cprtime = now;
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} else {
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a->even_cprnuc = mm->nuc_p;
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a->even_cprlat = mm->raw_latitude;
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a->even_cprlon = mm->raw_longitude;
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a->even_cprtime = now;
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}
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// If we have enough recent data, try global CPR
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if (((mm->bFlags | a->bFlags) & MODES_ACFLAGS_LLEITHER_VALID) == MODES_ACFLAGS_LLBOTH_VALID && abs((int)(a->even_cprtime - a->odd_cprtime)) <= max_elapsed) {
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if (trackDataValid(&a->cpr_odd_valid) && trackDataValid(&a->cpr_even_valid) &&
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a->cpr_odd_valid.source == a->cpr_even_valid.source &&
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a->cpr_odd_airground == a->cpr_even_airground &&
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time_between(a->cpr_odd_valid.updated, a->cpr_even_valid.updated) <= max_elapsed) {
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location_result = doGlobalCPR(a, mm, now, &new_lat, &new_lon, &new_nuc);
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if (location_result == -2) {
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#ifdef DEBUG_CPR_CHECKS
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if (mm->bFlags & MODES_ACFLAGS_FROM_MLAT) {
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fprintf(stderr, "CPR failure from MLAT (%06X).\n", a->addr);
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}
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fprintf(stderr, "global CPR failure (invalid) for (%06X).\n", a->addr);
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#endif
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// Global CPR failed because the position produced implausible results.
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// This is bad data. Discard both odd and even messages and wait for a fresh pair.
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// Also disable aircraft-relative positions until we have a new good position (but don't discard the
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// recorded position itself)
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Modes.stats_current.cpr_global_bad++;
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a->bFlags &= ~(MODES_ACFLAGS_LATLON_REL_OK | MODES_ACFLAGS_LLODD_VALID | MODES_ACFLAGS_LLEVEN_VALID);
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a->cpr_odd_valid.source = a->cpr_even_valid.source = a->position_valid.source = SOURCE_INVALID;
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// Also discard the current message's data as it is suspect - we don't want
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// to update any of the aircraft state from this.
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mm->bFlags &= ~(MODES_ACFLAGS_LATLON_VALID | MODES_ACFLAGS_LLODD_VALID | MODES_ACFLAGS_LLEVEN_VALID |
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MODES_ACFLAGS_ALTITUDE_VALID |
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MODES_ACFLAGS_SPEED_VALID |
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MODES_ACFLAGS_HEADING_VALID |
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MODES_ACFLAGS_NSEWSPD_VALID |
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MODES_ACFLAGS_VERTRATE_VALID |
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MODES_ACFLAGS_AOG_VALID |
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MODES_ACFLAGS_AOG);
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return;
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} else if (location_result == -1) {
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#ifdef DEBUG_CPR_CHECKS
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if (mm->bFlags & MODES_ACFLAGS_FROM_MLAT) {
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if (mm->source == SOURCE_MLAT) {
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fprintf(stderr, "CPR skipped from MLAT (%06X).\n", a->addr);
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}
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#endif
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@ -431,6 +468,7 @@ static void updatePosition(struct aircraft *a, struct modesMessage *mm, uint64_t
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Modes.stats_current.cpr_global_skipped++;
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} else {
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Modes.stats_current.cpr_global_ok++;
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combine_validity(&a->position_valid, &a->cpr_even_valid, &a->cpr_odd_valid);
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}
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}
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@ -438,30 +476,30 @@ static void updatePosition(struct aircraft *a, struct modesMessage *mm, uint64_t
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if (location_result == -1) {
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location_result = doLocalCPR(a, mm, now, &new_lat, &new_lon, &new_nuc);
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if (location_result == -1) {
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if (location_result < 0) {
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Modes.stats_current.cpr_local_skipped++;
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} else {
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Modes.stats_current.cpr_local_ok++;
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if (a->bFlags & MODES_ACFLAGS_LATLON_REL_OK)
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Modes.stats_current.cpr_local_aircraft_relative++;
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else
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Modes.stats_current.cpr_local_receiver_relative++;
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mm->bFlags |= MODES_ACFLAGS_REL_CPR_USED;
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mm->cpr_relative = 1;
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if (mm->cpr_odd) {
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a->position_valid = a->cpr_odd_valid;
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} else {
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a->position_valid = a->cpr_even_valid;
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}
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}
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}
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if (location_result == 0) {
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// If we sucessfully decoded, back copy the results to mm so that we can print them in list output
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mm->bFlags |= MODES_ACFLAGS_LATLON_VALID;
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mm->fLat = new_lat;
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mm->fLon = new_lon;
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mm->cpr_decoded = 1;
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mm->decoded_lat = new_lat;
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mm->decoded_lon = new_lon;
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// Update aircraft state
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a->bFlags |= (MODES_ACFLAGS_LATLON_VALID | MODES_ACFLAGS_LATLON_REL_OK);
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a->lat = new_lat;
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a->lon = new_lon;
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a->pos_nuc = new_nuc;
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a->seenLatLon = a->seen;
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update_range_histogram(new_lat, new_lon);
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}
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@ -493,126 +531,100 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
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a->seen = now;
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a->messages++;
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// if the Aircraft has landed or taken off since the last message, clear the even/odd CPR flags
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if ((mm->bFlags & MODES_ACFLAGS_AOG_VALID) && ((a->bFlags ^ mm->bFlags) & MODES_ACFLAGS_AOG)) {
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a->bFlags &= ~(MODES_ACFLAGS_LLBOTH_VALID | MODES_ACFLAGS_AOG);
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}
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// If we've got a new cprlat or cprlon
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if (mm->bFlags & MODES_ACFLAGS_LLEITHER_VALID) {
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updatePosition(a, mm, now);
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}
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||||
|
||||
// If a (new) CALLSIGN has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_CALLSIGN_VALID) {
|
||||
memcpy(a->flight, mm->flight, sizeof(a->flight));
|
||||
}
|
||||
|
||||
// If a (new) ALTITUDE has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_ALTITUDE_VALID) {
|
||||
if ( (a->modeCcount) // if we've a modeCcount already
|
||||
&& (a->altitude != mm->altitude ) ) // and Altitude has changed
|
||||
// && (a->modeC != mm->modeC + 1) // and Altitude not changed by +100 feet
|
||||
// && (a->modeC + 1 != mm->modeC ) ) // and Altitude not changes by -100 feet
|
||||
{
|
||||
a->modeCcount = 0; //....zero the hit count
|
||||
if (mm->altitude_valid && mm->altitude_source == ALTITUDE_BARO && accept_data(&a->altitude_valid, mm->source, now)) {
|
||||
unsigned modeC = (a->altitude + 49) / 100;
|
||||
if (modeC != a->altitude_modeC) {
|
||||
a->modeCcount = 0; //....zero the hit count
|
||||
a->modeACflags &= ~MODEAC_MSG_MODEC_HIT;
|
||||
}
|
||||
|
||||
// If we received an altitude in a (non-mlat) DF17/18 squitter recently, ignore
|
||||
// DF0/4/16/20 altitudes as single-bit errors can attribute them to the wrong
|
||||
// aircraft
|
||||
if ((a->bFlags & ~a->mlatFlags & MODES_ACFLAGS_ALTITUDE_VALID) &&
|
||||
(now - a->seenAltitude) < 15000 &&
|
||||
(a->bFlags & ~a->mlatFlags & MODES_ACFLAGS_LATLON_VALID) &&
|
||||
(now - a->seenLatLon) < 15000 &&
|
||||
mm->msgtype != 17 &&
|
||||
mm->msgtype != 18) {
|
||||
Modes.stats_current.suppressed_altitude_messages++;
|
||||
} else {
|
||||
a->altitude = mm->altitude;
|
||||
a->modeC = (mm->altitude + 49) / 100;
|
||||
a->seenAltitude = now;
|
||||
|
||||
// reporting of HAE and baro altitudes is mutually exclusive
|
||||
// so if we see a baro altitude, assume the HAE altitude is invalid
|
||||
// we will recalculate it from baro + HAE delta below, where possible
|
||||
a->bFlags &= ~MODES_ACFLAGS_ALTITUDE_HAE_VALID;
|
||||
}
|
||||
|
||||
a->altitude = mm->altitude;
|
||||
a->altitude_modeC = modeC;
|
||||
}
|
||||
|
||||
// If a (new) HAE altitude has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_ALTITUDE_HAE_VALID) {
|
||||
a->altitude_hae = mm->altitude_hae;
|
||||
|
||||
// reporting of HAE and baro altitudes is mutually exclusive
|
||||
// if you have both, you're meant to report baro and a HAE delta,
|
||||
// so if we see explicit HAE then assume the delta is invalid too
|
||||
a->bFlags &= ~(MODES_ACFLAGS_ALTITUDE_VALID | MODES_ACFLAGS_HAE_DELTA_VALID);
|
||||
}
|
||||
|
||||
// If a (new) HAE/barometric difference has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_HAE_DELTA_VALID) {
|
||||
a->hae_delta = mm->hae_delta;
|
||||
|
||||
// reporting of HAE and baro altitudes is mutually exclusive
|
||||
// if you have both, you're meant to report baro and a HAE delta,
|
||||
// so if we see a HAE delta then assume the HAE altitude is invalid
|
||||
a->bFlags &= ~MODES_ACFLAGS_ALTITUDE_HAE_VALID;
|
||||
}
|
||||
|
||||
// If a (new) SQUAWK has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_SQUAWK_VALID) {
|
||||
if (a->modeA != mm->modeA) {
|
||||
a->modeAcount = 0; // Squawk has changed, so zero the hit count
|
||||
if (mm->squawk_valid && accept_data(&a->squawk_valid, mm->source, now)) {
|
||||
if (mm->squawk != a->squawk) {
|
||||
a->modeAcount = 0; //....zero the hit count
|
||||
a->modeACflags &= ~MODEAC_MSG_MODEA_HIT;
|
||||
}
|
||||
a->modeA = mm->modeA;
|
||||
a->squawk = mm->squawk;
|
||||
}
|
||||
|
||||
// If a (new) HEADING has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_HEADING_VALID) {
|
||||
a->track = mm->heading;
|
||||
a->seenTrack = now;
|
||||
if (mm->altitude_valid && mm->altitude_source == ALTITUDE_GNSS && accept_data(&a->altitude_gnss_valid, mm->source, now)) {
|
||||
a->altitude_gnss = mm->altitude;
|
||||
}
|
||||
|
||||
// If a (new) SPEED has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_SPEED_VALID) {
|
||||
a->speed = mm->velocity;
|
||||
a->seenSpeed = now;
|
||||
if (mm->gnss_delta_valid && accept_data(&a->gnss_delta_valid, mm->source, now)) {
|
||||
a->gnss_delta = mm->gnss_delta;
|
||||
}
|
||||
|
||||
// If a (new) Vertical Descent rate has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_VERTRATE_VALID) {
|
||||
if (mm->heading_valid && mm->heading_source == HEADING_TRUE && accept_data(&a->heading_valid, mm->source, now)) {
|
||||
a->heading = mm->heading;
|
||||
}
|
||||
|
||||
if (mm->heading_valid && mm->heading_source == HEADING_MAGNETIC && accept_data(&a->heading_magnetic_valid, mm->source, now)) {
|
||||
a->heading_magnetic = mm->heading;
|
||||
}
|
||||
|
||||
if (mm->speed_valid && mm->speed_source == SPEED_GROUNDSPEED && accept_data(&a->speed_valid, mm->source, now)) {
|
||||
a->speed = mm->speed;
|
||||
}
|
||||
|
||||
if (mm->speed_valid && mm->speed_source == SPEED_IAS && accept_data(&a->speed_ias_valid, mm->source, now)) {
|
||||
a->speed_ias = mm->speed;
|
||||
}
|
||||
|
||||
if (mm->speed_valid && mm->speed_source == SPEED_TAS && accept_data(&a->speed_tas_valid, mm->source, now)) {
|
||||
a->speed_tas = mm->speed;
|
||||
}
|
||||
|
||||
if (mm->vert_rate_valid && accept_data(&a->vert_rate_valid, mm->source, now)) {
|
||||
a->vert_rate = mm->vert_rate;
|
||||
a->vert_rate_source = mm->vert_rate_source;
|
||||
}
|
||||
|
||||
// If a (new) category has been received, copy it to the aircraft structure
|
||||
if (mm->bFlags & MODES_ACFLAGS_CATEGORY_VALID) {
|
||||
if (mm->category_valid && accept_data(&a->category_valid, mm->source, now)) {
|
||||
a->category = mm->category;
|
||||
}
|
||||
|
||||
// Update the aircrafts a->bFlags to reflect the newly received mm->bFlags;
|
||||
a->bFlags |= mm->bFlags;
|
||||
|
||||
// If we have a baro altitude and a HAE delta from baro, calculate the HAE altitude
|
||||
if ((a->bFlags & MODES_ACFLAGS_ALTITUDE_VALID) && (a->bFlags & MODES_ACFLAGS_HAE_DELTA_VALID)) {
|
||||
a->altitude_hae = a->altitude + a->hae_delta;
|
||||
a->bFlags |= MODES_ACFLAGS_ALTITUDE_HAE_VALID;
|
||||
if (mm->airground != AG_INVALID && accept_data(&a->airground_valid, mm->source, now)) {
|
||||
a->airground = mm->airground;
|
||||
}
|
||||
|
||||
// Update mlat flags. The mlat flags indicate which bits in bFlags
|
||||
// were last set based on a mlat-derived message.
|
||||
if (mm->bFlags & MODES_ACFLAGS_FROM_MLAT)
|
||||
a->mlatFlags = (a->mlatFlags & a->bFlags) | mm->bFlags;
|
||||
else
|
||||
a->mlatFlags = (a->mlatFlags & a->bFlags) & ~mm->bFlags;
|
||||
if (mm->callsign_valid && accept_data(&a->callsign_valid, mm->source, now)) {
|
||||
memcpy(a->callsign, mm->callsign, sizeof(a->callsign));
|
||||
}
|
||||
|
||||
// Same for TIS-B
|
||||
if (mm->bFlags & MODES_ACFLAGS_FROM_TISB)
|
||||
a->tisbFlags = (a->tisbFlags & a->bFlags) | mm->bFlags;
|
||||
else
|
||||
a->tisbFlags = (a->tisbFlags & a->bFlags) & ~mm->bFlags;
|
||||
// CPR, even
|
||||
if (mm->cpr_valid && !mm->cpr_odd && accept_data(&a->cpr_even_valid, mm->source, now)) {
|
||||
a->cpr_even_airground = mm->airground;
|
||||
a->cpr_even_lat = mm->cpr_lat;
|
||||
a->cpr_even_lon = mm->cpr_lon;
|
||||
a->cpr_even_nuc = mm->cpr_nucp;
|
||||
}
|
||||
|
||||
// CPR, odd
|
||||
if (mm->cpr_valid && mm->cpr_odd && accept_data(&a->cpr_odd_valid, mm->source, now)) {
|
||||
a->cpr_odd_airground = mm->airground;
|
||||
a->cpr_odd_lat = mm->cpr_lat;
|
||||
a->cpr_odd_lon = mm->cpr_lon;
|
||||
a->cpr_odd_nuc = mm->cpr_nucp;
|
||||
}
|
||||
|
||||
// Now handle derived data
|
||||
|
||||
// derive GNSS if we have baro + delta
|
||||
if (compare_validity(&a->altitude_valid, &a->altitude_gnss_valid, now) > 0 &&
|
||||
compare_validity(&a->gnss_delta_valid, &a->altitude_gnss_valid, now) > 0) {
|
||||
// Baro and delta are both more recent than GNSS, derive GNSS from baro + delta
|
||||
a->altitude_gnss = a->altitude + a->gnss_delta;
|
||||
combine_validity(&a->altitude_gnss_valid, &a->altitude_valid, &a->gnss_delta_valid);
|
||||
}
|
||||
|
||||
// If we've got a new cprlat or cprlon
|
||||
if (mm->cpr_valid) {
|
||||
updatePosition(a, mm, now);
|
||||
}
|
||||
|
||||
if (mm->msgtype == 32) {
|
||||
int flags = a->modeACflags;
|
||||
|
|
@ -670,9 +682,9 @@ static void trackUpdateAircraftModeA(struct aircraft *a)
|
|||
if ((b->modeACflags & MODEAC_MSG_FLAG) == 0) { // skip any fudged ICAO records
|
||||
|
||||
// If both (a) and (b) have valid squawks...
|
||||
if ((a->bFlags & b->bFlags) & MODES_ACFLAGS_SQUAWK_VALID) {
|
||||
if (trackDataValid(&a->squawk_valid) && trackDataValid(&b->squawk_valid)) {
|
||||
// ...check for Mode-A == Mode-S Squawk matches
|
||||
if (a->modeA == b->modeA) { // If a 'real' Mode-S ICAO exists using this Mode-A Squawk
|
||||
if (a->squawk == b->squawk) { // If a 'real' Mode-S ICAO exists using this Mode-A Squawk
|
||||
b->modeAcount = a->messages;
|
||||
b->modeACflags |= MODEAC_MSG_MODEA_HIT;
|
||||
a->modeACflags |= MODEAC_MSG_MODEA_HIT;
|
||||
|
|
@ -684,11 +696,11 @@ static void trackUpdateAircraftModeA(struct aircraft *a)
|
|||
}
|
||||
|
||||
// If both (a) and (b) have valid altitudes...
|
||||
if ((a->bFlags & b->bFlags) & MODES_ACFLAGS_ALTITUDE_VALID) {
|
||||
if (trackDataValid(&a->altitude_valid) && trackDataValid(&b->altitude_valid)) {
|
||||
// ... check for Mode-C == Mode-S Altitude matches
|
||||
if ( (a->modeC == b->modeC ) // If a 'real' Mode-S ICAO exists at this Mode-C Altitude
|
||||
|| (a->modeC == b->modeC + 1) // or this Mode-C - 100 ft
|
||||
|| (a->modeC + 1 == b->modeC ) ) { // or this Mode-C + 100 ft
|
||||
if ( (a->altitude_modeC == b->altitude_modeC ) // If a 'real' Mode-S ICAO exists at this Mode-C Altitude
|
||||
|| (a->altitude_modeC == b->altitude_modeC + 1) // or this Mode-C - 100 ft
|
||||
|| (a->altitude_modeC + 1 == b->altitude_modeC ) ) { // or this Mode-C + 100 ft
|
||||
b->modeCcount = a->messages;
|
||||
b->modeACflags |= MODEAC_MSG_MODEC_HIT;
|
||||
a->modeACflags |= MODEAC_MSG_MODEC_HIT;
|
||||
|
|
@ -748,10 +760,25 @@ static void trackRemoveStaleAircraft(uint64_t now)
|
|||
prev->next = a->next; free(a); a = prev->next;
|
||||
}
|
||||
} else {
|
||||
if ((a->bFlags & MODES_ACFLAGS_LATLON_VALID) && (now - a->seenLatLon) > TRACK_AIRCRAFT_POSITION_TTL) {
|
||||
/* Position is too old and no longer valid */
|
||||
a->bFlags &= ~(MODES_ACFLAGS_LATLON_VALID | MODES_ACFLAGS_LATLON_REL_OK);
|
||||
}
|
||||
|
||||
#define EXPIRE(_f) do { if (a->_f##_valid.source != SOURCE_INVALID && now >= a->_f##_valid.expires) { a->_f##_valid.source = SOURCE_INVALID; } } while (0)
|
||||
EXPIRE(callsign);
|
||||
EXPIRE(altitude);
|
||||
EXPIRE(altitude_gnss);
|
||||
EXPIRE(gnss_delta);
|
||||
EXPIRE(speed);
|
||||
EXPIRE(speed_ias);
|
||||
EXPIRE(speed_tas);
|
||||
EXPIRE(heading);
|
||||
EXPIRE(heading_magnetic);
|
||||
EXPIRE(vert_rate);
|
||||
EXPIRE(squawk);
|
||||
EXPIRE(category);
|
||||
EXPIRE(airground);
|
||||
EXPIRE(cpr_odd);
|
||||
EXPIRE(cpr_even);
|
||||
EXPIRE(position);
|
||||
|
||||
prev = a; a = a->next;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue