Merge branch 'dev' into build-instructions

.travis.yml

@@ -16,7 +16,7 @@ matrix:
 before_install:
     - if [ `uname` = "Linux" ]; then
           sudo apt-get update -qq;
-          sudo apt-get install -y build-essential debhelper librtlsdr-dev libusb-1.0-0-dev pkg-config;
+          sudo apt-get install -y build-essential debhelper librtlsdr-dev libusb-1.0-0-dev pkg-config fakeroot libbladerf-dev dh-systemd;
       elif [ `uname` = "Darwin" ]; then
           brew update;
           brew install -v librtlsdr;

Makefile

@@ -15,16 +15,20 @@ ifeq ($(RTLSDR), yes)
 
   ifdef RTLSDR_PREFIX
     CPPFLAGS += -I$(RTLSDR_PREFIX)/include
-    LDFLAGS += -L$(RTLSDR_PREFIX)/lib
+    ifeq ($(STATIC), yes)
+      LIBS_SDR += -L$(RTLSDR_PREFIX)/lib -Wl,-Bstatic -lrtlsdr -Wl,-Bdynamic -lusb-1.0
+    else
+      LIBS_SDR += -L$(RTLSDR_PREFIX)/lib -lrtlsdr -lusb-1.0
+    endif
   else
     CFLAGS += $(shell pkg-config --cflags librtlsdr)
-    LDFLAGS += $(shell pkg-config --libs-only-L librtlsdr)
+    # some packaged .pc files are massively broken, try to handle it
-  endif
+    RTLSDR_LFLAGS := $(shell pkg-config --libs-only-L librtlsdr)
-
+    ifeq ($(RTLSDR_LFLAGS),-L)
-  ifeq ($(STATIC), yes)
+      LIBS_SDR += $(shell pkg-config --libs-only-l --libs-only-other librtlsdr)
-    LIBS_SDR += -Wl,-Bstatic -lrtlsdr -Wl,-Bdynamic -lusb-1.0
+    else
-  else
+      LIBS_SDR += $(shell pkg-config --libs librtlsdr)
-    LIBS_SDR += -lrtlsdr -lusb-1.0
+    endif
   endif
 endif
 

README.md

@@ -6,6 +6,14 @@ customized for use within [FlightAware](http://flightaware.com)'s
 
 It is designed to build as a Debian package.
 
+## Building under stretch
+
+```bash
+$ sudo apt-get install build-essential debhelper librtlsdr-dev pkg-config dh-systemd libncurses5-dev libbladerf-dev
+$ dpkg-buildpackage -b
+```
+
+
 ## Building under jessie
 
 ### Dependencies - bladeRF
@@ -44,8 +52,8 @@ You can probably just run "make" after installing the required dependencies.
 Binaries are built in the source directory; you will need to arrange to
 install them (and a method for starting them) yourself.
 
-"make BLADERF=no" will disable bladeRF support and remove the dependency on
+``make BLADERF=no`` will disable bladeRF support and remove the dependency on
 libbladeRF.
 
-"make RTLSDR=no" will disable rtl-sdr support and remove the dependency on
+``make RTLSDR=no`` will disable rtl-sdr support and remove the dependency on
 librtlsdr.

debian/changelog

@@ -1,3 +1,37 @@
+dump1090-fa (3.7.1~dev) UNRELEASED; urgency=medium
+
+  * in development
+
+ -- Eric Tran <eric.tran@flightaware.com>  Mon, 15 Apr 2019 11:23:00 -6000
+
+dump1090-fa (3.7.0.1) stable; urgency=medium
+
+  * dump1090: Fix piaware lat/lon variable
+
+ -- Eric Tran <eric.tran@flightaware.com>  Fri, 29 Mar 2019 7:04:00 -6000
+
+dump1090-fa (3.7.0) stable; urgency=medium
+
+  * dump1090: Fix Rc decoding errors
+  * dump1090: Compute ADS-B v0 NACp/SIL
+  * dump1090: When generating aircraft.json, leave space for the final line;
+    otherwise the generated json may have trailing garbage
+  * dump1090: Don't update the known-address-set from DF18 messages
+  * Skyview: use heading data for icon orientation if track data is unavailable
+  * Skyview: don't spin forever if there's no history to load / receiver.json
+    is missing
+  * dump1090: Bail out if rtlsdr_read_async() returns early; it probably means we lost
+    the USB device. There was a workaround for this (originally implemented
+    in dump1090-mutability) that got lost in the refactoring needed to support
+    different SDRs. librtlsdr can still be flaky under disconnect conditions, so
+    this won't catch everything.
+  * dump1090: add ENABLED to /etc/default/dump1090-fa
+  * dump1090: track FMS and MCP selected altitudes separately
+  * skyview: use whichever selected altitude is available
+  * faup1090: updates to support PiAware 3.7.0
+
+ -- Oliver Jowett <oliver@mutability.co.uk>  Fri, 22 Mar 2019 15:58:04 +0000
+
 dump1090-fa (3.6.3) stable; urgency=medium
 
   * Fix port 30003 output (Basestation) timestamp formatting broken in 3.6.0

debian/dump1090-fa.default

@@ -1,11 +1,14 @@
 # dump1090-fa configuration
-# This is read by the systemd service file as an environment file,
+# This is sourced by /usr/share/dump1090-fa/start-dump1090-fa as a
-# and evaluated by some scripts as a POSIX shell fragment.
+# shellscript fragment.
 
 # If you are using a PiAware sdcard image, this config file is regenerated
 # on boot based on the contents of piaware-config.txt; any changes made to this
 # file will be lost.
 
+# dump1090-fa won't automatically start unless ENABLED=yes
+ENABLED=yes
+
 RECEIVER_OPTIONS="--device-index 0 --gain -10 --ppm 0 --net-bo-port 30005"
 DECODER_OPTIONS="--max-range 360"
 NET_OPTIONS="--net --net-heartbeat 60 --net-ro-size 1000 --net-ro-interval 1 --net-ri-port 0 --net-ro-port 30002 --net-sbs-port 30003 --net-bi-port 30004,30104 --net-bo-port 30005"

debian/dump1090-fa.install

@@ -1,3 +1,4 @@
 public_html/* usr/share/dump1090-fa/html
 debian/lighttpd/* etc/lighttpd/conf-available
-bladerf/* /usr/share/dump1090-fa/bladerf
+bladerf/* usr/share/dump1090-fa/bladerf
+debian/start-dump1090-fa usr/share/dump1090-fa/

debian/dump1090-fa.postinst

@@ -49,6 +49,20 @@ case "$1" in
             fi
         fi
 
+        # on upgrade, add an ENABLED line if it's not already present
+        if dpkg --compare-versions "$2" lt-nl "3.7.0"
+        then
+            if [ -f /etc/default/dump1090-fa ]
+            then
+                if ! grep -q -E '^ENABLED=' /etc/default/dump1090-fa
+                then
+                    echo "Setting ENABLED=yes in /etc/default/dump1090-fa.." >&2
+                    echo "# Automatically added by upgrade from $2" >>/etc/default/dump1090-fa
+                    echo "ENABLED=yes" >>/etc/default/dump1090-fa
+                fi
+            fi
+        fi
+
         echo "Restarting lighttpd.." >&2
         invoke-rc.d lighttpd restart || true
     ;;

debian/dump1090-fa.service

@@ -7,17 +7,15 @@ Wants=network.target
 After=network.target
 
 [Service]
-EnvironmentFile=/etc/default/dump1090-fa
-EnvironmentFile=-/var/cache/piaware/location.env
 User=dump1090
 RuntimeDirectory=dump1090-fa
 RuntimeDirectoryMode=0755
-ExecStart=/usr/bin/dump1090-fa \
+ExecStart=/usr/share/dump1090-fa/start-dump1090-fa --write-json %t/dump1090-fa --quiet
- $RECEIVER_OPTIONS $DECODER_OPTIONS $NET_OPTIONS $JSON_OPTIONS $PIAWARE_DUMP1090_LOCATION_OPTIONS \
+SyslogIdentifier=dump1090-fa
- --write-json /run/dump1090-fa --quiet
 Type=simple
 Restart=on-failure
 RestartSec=30
+RestartPreventExitStatus=64
 Nice=-5
 
 [Install]

debian/start-dump1090-fa

@@ -0,0 +1,33 @@
+#!/bin/sh
+
+# Helper script that reads /etc/default/dump1090-fa
+# and either starts dump1090-fa with the configured
+# arguments, or exits with status 64 to tell systemd
+# not to auto-restart the service.
+
+if [ -f /etc/default/dump1090-fa ]
+then
+    . /etc/default/dump1090-fa
+fi
+
+if [ -f /var/cache/piaware/location.env ]
+then
+    . /var/cache/piaware/location.env
+fi
+
+if [ "x$ENABLED" != "xyes" ]
+then
+    echo "dump1090-fa not enabled in /etc/default/dump1090-fa" >&2
+    exit 64
+fi
+
+if [ -n "$PIAWARE_LAT" -a -n "$PIAWARE_LON" ]
+then
+    POSITION="--lat $PIAWARE_LAT --lon $PIAWARE_LON"
+fi
+
+exec /usr/bin/dump1090-fa \
+     $RECEIVER_OPTIONS $DECODER_OPTIONS $NET_OPTIONS $JSON_OPTIONS $POSITION \
+     "$@"
+# exec failed, do not restart
+exit 64

dump1090.c

@@ -224,15 +224,12 @@ void *readerThreadEntryPoint(void *arg)
 
     // Wake the main thread (if it's still waiting)
     pthread_mutex_lock(&Modes.data_mutex);
-    Modes.exit = 1; // just in case
+    if (!Modes.exit)
+        Modes.exit = 2; // unexpected exit
     pthread_cond_signal(&Modes.data_cond);
     pthread_mutex_unlock(&Modes.data_mutex);
 
-#ifndef _WIN32
-    pthread_exit(NULL);
-#else
     return NULL;
-#endif
 }
 //
 // ============================== Snip mode =================================
@@ -760,15 +757,15 @@ int main(int argc, char **argv) {
         display_total_stats();
     }
 
-    log_with_timestamp("Normal exit.");
-
     sdrClose();
 
-#ifndef _WIN32
+    if (Modes.exit == 1) {
-    pthread_exit(0);
+        log_with_timestamp("Normal exit.");
-#else
+        return 0;
-    return (0);
+    } else {
-#endif
+        log_with_timestamp("Abnormal exit.");
+        return 1;
+    }
 }
 //
 //=========================================================================

dump1090.h

@@ -227,6 +227,10 @@ typedef enum {
     EMERGENCY_RESERVED = 7
 } emergency_t;
 
+typedef enum {
+    NAV_ALT_INVALID, NAV_ALT_UNKNOWN, NAV_ALT_AIRCRAFT, NAV_ALT_MCP, NAV_ALT_FMS
+} nav_altitude_source_t;
+
 #define MODES_NON_ICAO_ADDRESS       (1<<24) // Set on addresses to indicate they are not ICAO addresses
 
 #define MODES_DEBUG_DEMOD (1<<0)
@@ -304,7 +308,7 @@ struct {                             // Internal state
     double          sample_rate;                          // actual sample rate in use (in hz)
 
     uint16_t       *log10lut;        // Magnitude -> log10 lookup table
-    int             exit;            // Exit from the main loop when true
+    int             exit;            // Exit from the main loop when true (2 = unclean exit)
 
     // Sample conversion
     int            dc_filter;        // should we apply a DC filter?
@@ -581,7 +585,7 @@ struct modesMessage {
         unsigned mcp_altitude;  // MCP/FCU selected altitude
         float    qnh;           // altimeter setting (QFE or QNH/QNE), millibars
 
-        enum { NAV_ALT_INVALID, NAV_ALT_UNKNOWN, NAV_ALT_AIRCRAFT, NAV_ALT_MCP, NAV_ALT_FMS } altitude_source;
+        nav_altitude_source_t altitude_source;
 
         nav_modes_t modes;
     } nav;

faup1090.c

@@ -204,7 +204,6 @@ int main(int argc, char **argv) {
     // Set up output connection on stdout
     fatsv_output = makeFatsvOutputService();
     createGenericClient(fatsv_output, STDOUT_FILENO);
-    writeFATSVHeader();
 
     // Run it until we've lost either connection
     while (!Modes.exit && beast_input->connections && fatsv_output->connections) {

mode_s.c

@@ -568,9 +568,9 @@ int decodeModesMessage(struct modesMessage *mm, unsigned char *msg)
         mm->CC = getbit(msg, 7);
     }
 
-    // CF (Control field)
+    // CF (Control field, see Figure 2-2 ADS-B Message BaselineFormat Structure)
     if (mm->msgtype == 18) {
-        mm->CF = getbits(msg, 5, 8);
+        mm->CF = getbits(msg, 6, 8);
     }
 
     // DR (Downlink Request)
@@ -1053,7 +1053,7 @@ static void decodeESTargetStatus(struct modesMessage *mm, int check_imf)
             // nothing
             break;
         }
-        // 10: target altitude type (ignored)
+        // 10: target altitude type (MSL or Baro, ignored)
         // 11: backward compatibility bit, always 0
         // 12-13: target alt capabilities (ignored)
         // 14-15: vertical mode
@@ -1081,7 +1081,7 @@ static void decodeESTargetStatus(struct modesMessage *mm, int check_imf)
             break;
         }
 
-        // 16-25: altitude
+        // 16-25: target altitude
         int alt = -1000 + 100 * getbits(me, 16, 25);
         switch (mm->nav.altitude_source) {
         case NAV_ALT_MCP:
@@ -1109,7 +1109,7 @@ static void decodeESTargetStatus(struct modesMessage *mm, int check_imf)
                 mm->nav.heading_type = HEADING_MAGNETIC_OR_TRUE;
             }
         }
-        // 38-39: horiontal mode
+        // 38-39: horizontal mode
         switch (getbits(me, 38, 39)) {
         case 1: // acquiring
         case 2: // maintaining

net_io.c

@@ -1155,8 +1155,10 @@ static char *append_flags(char *p, char *end, struct aircraft *a, datasource_t s
         p = safe_snprintf(p, end, "\"emergency\",");
     if (a->nav_qnh_valid.source == source)
         p = safe_snprintf(p, end, "\"nav_qnh\",");
-    if (a->nav_altitude_valid.source == source)
+    if (a->nav_altitude_mcp_valid.source == source)
-        p = safe_snprintf(p, end, "\"nav_altitude\",");
+        p = safe_snprintf(p, end, "\"nav_altitude_mcp\",");
+    if (a->nav_altitude_fms_valid.source == source)
+        p = safe_snprintf(p, end, "\"nav_altitude_fms\",");
     if (a->nav_heading_valid.source == source)
         p = safe_snprintf(p, end, "\"nav_heading\",");
     if (a->nav_modes_valid.source == source)
@@ -1267,6 +1269,18 @@ static const char *sil_type_enum_string(sil_type_t type)
     }
 }
 
+static const char *nav_altitude_source_enum_string(nav_altitude_source_t src)
+{
+    switch (src) {
+    case NAV_ALT_INVALID:  return "invalid";
+    case NAV_ALT_UNKNOWN:  return "unknown";
+    case NAV_ALT_AIRCRAFT: return "aircraft";
+    case NAV_ALT_MCP:      return "mcp";
+    case NAV_ALT_FMS:      return "fms";
+    default:               return "invalid";
+    }
+}
+
 char *generateAircraftJson(const char *url_path, int *len) {
     uint64_t now = mstime();
     struct aircraft *a;
@@ -1341,8 +1355,10 @@ char *generateAircraftJson(const char *url_path, int *len) {
             p = safe_snprintf(p, end, ",\"category\":\"%02X\"", a->category);
         if (trackDataValid(&a->nav_qnh_valid))
             p = safe_snprintf(p, end, ",\"nav_qnh\":%.1f", a->nav_qnh);
-        if (trackDataValid(&a->nav_altitude_valid))
+         if (trackDataValid(&a->nav_altitude_mcp_valid))
-            p = safe_snprintf(p, end, ",\"nav_altitude\":%d", a->nav_altitude);
+            p = safe_snprintf(p, end, ",\"nav_altitude_mcp\":%d", a->nav_altitude_mcp);
+         if (trackDataValid(&a->nav_altitude_fms_valid))
+            p = safe_snprintf(p, end, ",\"nav_altitude_fms\":%d", a->nav_altitude_fms);
         if (trackDataValid(&a->nav_heading_valid))
             p = safe_snprintf(p, end, ",\"nav_heading\":%.1f", a->nav_heading);
         if (trackDataValid(&a->nav_modes_valid)) {
@@ -1534,7 +1550,7 @@ char *generateStatsJson(const char *url_path, int *len) {
     p = appendStatsJson(p, end, &add, "total");
     p = safe_snprintf(p, end, "\n}\n");
 
-    assert(p <= end);
+    assert(p < end);
 
     *len = p-buf;
     return buf;
@@ -1862,27 +1878,8 @@ __attribute__ ((format (printf,4,5))) static char *appendFATSV(char *p, char *en
     return p;
 }
 
-#define TSV_MAX_PACKET_SIZE 600
+#define TSV_MAX_PACKET_SIZE 800
-#define TSV_VERSION 3
+#define TSV_VERSION "4E"
-
-void writeFATSVHeader()
-{
-    char *p = prepareWrite(&Modes.fatsv_out, TSV_MAX_PACKET_SIZE);
-    if (!p)
-        return;
-
-    char *end = p + TSV_MAX_PACKET_SIZE;
-
-    p = appendFATSV(p, end, "clock",        "%"   PRIu64, mstime() / 1000);
-    p = appendFATSV(p, end, "tsv_version",  "%u", TSV_VERSION);
-    --p; // remove last tab
-    p = safe_snprintf(p, end, "\n");
-
-    if (p <= end)
-        completeWrite(&Modes.fatsv_out, p);
-    else
-        fprintf(stderr, "fatsv: output too large (max %d, overran by %d)\n", TSV_MAX_PACKET_SIZE, (int) (p - end));
-}
 
 static void writeFATSVPositionUpdate(float lat, float lon, float alt)
 {
@@ -1901,6 +1898,7 @@ static void writeFATSVPositionUpdate(float lat, float lon, float alt)
 
     char *end = p + TSV_MAX_PACKET_SIZE;
 
+    p = appendFATSV(p, end, "_v",     "%s", TSV_VERSION);
     p = appendFATSV(p, end, "clock",  "%" PRIu64, messageNow() / 1000);
     p = appendFATSV(p, end, "type",   "%s",       "location_update");
     p = appendFATSV(p, end, "lat",    "%.5f",     lat);
@@ -1910,7 +1908,7 @@ static void writeFATSVPositionUpdate(float lat, float lon, float alt)
     --p; // remove last tab
     p = safe_snprintf(p, end, "\n");
 
-    if (p <= end)
+    if (p < end)
         completeWrite(&Modes.fatsv_out, p);
     else
         fprintf(stderr, "fatsv: output too large (max %d, overran by %d)\n", TSV_MAX_PACKET_SIZE, (int) (p - end));
@@ -1924,6 +1922,7 @@ static void writeFATSVEventMessage(struct modesMessage *mm, const char *datafiel
 
     char *end = p + TSV_MAX_PACKET_SIZE;
 
+    p = appendFATSV(p, end, "_v",    "%s", TSV_VERSION);
     p = appendFATSV(p, end, "clock", "%" PRIu64, messageNow() / 1000);
     p = appendFATSV(p, end, (mm->addr & MODES_NON_ICAO_ADDRESS) ? "otherid" : "hexid", "%06X", mm->addr & 0xFFFFFF);
     if (mm->addrtype != ADDR_ADSB_ICAO) {
@@ -1936,7 +1935,7 @@ static void writeFATSVEventMessage(struct modesMessage *mm, const char *datafiel
     }
     p = safe_snprintf(p, end, "\n");
 
-    if (p <= end)
+    if (p < end)
         completeWrite(&Modes.fatsv_out, p);
     else
         fprintf(stderr, "fatsv: output too large (max %d, overran by %d)\n", TSV_MAX_PACKET_SIZE, (int) (p - end));
@@ -2136,7 +2135,9 @@ static void writeFATSV()
             (trackDataValid(&a->mach_valid) && fabs(a->mach - a->fatsv_emitted_mach) >= 0.02);
 
         int immediate =
-            (trackDataValid(&a->nav_altitude_valid) && unsigned_difference(a->nav_altitude, a->fatsv_emitted_nav_altitude) > 50) ||
+            (trackDataValid(&a->nav_altitude_mcp_valid) && unsigned_difference(a->nav_altitude_mcp, a->fatsv_emitted_nav_altitude_mcp) > 50) ||
+            (trackDataValid(&a->nav_altitude_fms_valid) && unsigned_difference(a->nav_altitude_fms, a->fatsv_emitted_nav_altitude_fms) > 50) ||
+            (trackDataValid(&a->nav_altitude_src_valid) && a->nav_altitude_src != a->fatsv_emitted_nav_altitude_src) ||
             (trackDataValid(&a->nav_heading_valid) && heading_difference(a->nav_heading, a->fatsv_emitted_nav_heading) > 2) ||
             (trackDataValid(&a->nav_modes_valid) && a->nav_modes != a->fatsv_emitted_nav_modes) ||
             (trackDataValid(&a->nav_qnh_valid) && fabs(a->nav_qnh - a->fatsv_emitted_nav_qnh) > 0.8) || // 0.8 is the ES message resolution
@@ -2174,6 +2175,7 @@ static void writeFATSV()
             return;
         char *end = p + TSV_MAX_PACKET_SIZE;
 
+        p = appendFATSV(p, end, "_v",    "%s", TSV_VERSION);
         p = appendFATSV(p, end, "clock", "%" PRIu64, messageNow() / 1000);
         p = appendFATSV(p, end, (a->addr & MODES_NON_ICAO_ADDRESS) ? "otherid" : "hexid", "%06X", a->addr & 0xFFFFFF);
 
@@ -2236,8 +2238,10 @@ static void writeFATSV()
         p = appendFATSVMeta(p, end, "track_rate",  a, &a->track_rate_valid,     "%.2f", a->track_rate);
         p = appendFATSVMeta(p, end, "roll",        a, &a->roll_valid,           "%.1f", a->roll);
         p = appendFATSVMeta(p, end, "heading_magnetic", a, &a->mag_heading_valid, "%.1f", a->mag_heading);
-        p = appendFATSVMeta(p, end, "heading_true", a, &a->true_heading_valid, "%.1f", a->true_heading);
+        p = appendFATSVMeta(p, end, "heading_true", a, &a->true_heading_valid,    "%.1f", a->true_heading);
-        p = appendFATSVMeta(p, end, "nav_alt",     a, &a->nav_altitude_valid,  "%u",   a->nav_altitude);
+        p = appendFATSVMeta(p, end, "nav_alt_mcp", a, &a->nav_altitude_mcp_valid, "%u",   a->nav_altitude_mcp);
+        p = appendFATSVMeta(p, end, "nav_alt_fms", a, &a->nav_altitude_fms_valid, "%u",   a->nav_altitude_fms);
+        p = appendFATSVMeta(p, end, "nav_alt_src", a, &a->nav_altitude_src_valid, "%s", nav_altitude_source_enum_string(a->nav_altitude_src));
         p = appendFATSVMeta(p, end, "nav_heading", a, &a->nav_heading_valid,   "%.1f", a->nav_heading);
         p = appendFATSVMeta(p, end, "nav_modes",   a, &a->nav_modes_valid,     "{%s}", nav_modes_flags_string(a->nav_modes));
         p = appendFATSVMeta(p, end, "nav_qnh",     a, &a->nav_qnh_valid,       "%.1f", a->nav_qnh);
@@ -2252,7 +2256,7 @@ static void writeFATSV()
         --p; // remove last tab
         p = safe_snprintf(p, end, "\n");
 
-        if (p <= end)
+        if (p < end)
             completeWrite(&Modes.fatsv_out, p);
         else
             fprintf(stderr, "fatsv: output too large (max %d, overran by %d)\n", TSV_MAX_PACKET_SIZE, (int) (p - end));
@@ -2271,7 +2275,9 @@ static void writeFATSV()
         a->fatsv_emitted_mag_heading = a->mag_heading;
         a->fatsv_emitted_true_heading = a->true_heading;
         a->fatsv_emitted_airground = a->airground;
-        a->fatsv_emitted_nav_altitude = a->nav_altitude;
+        a->fatsv_emitted_nav_altitude_mcp = a->nav_altitude_mcp;
+        a->fatsv_emitted_nav_altitude_fms = a->nav_altitude_fms;
+        a->fatsv_emitted_nav_altitude_src = a->nav_altitude_src;
         a->fatsv_emitted_nav_heading = a->nav_heading;
         a->fatsv_emitted_nav_modes = a->nav_modes;
         a->fatsv_emitted_nav_qnh = a->nav_qnh;

net_io.h

@@ -87,8 +87,6 @@ void modesInitNet(void);
 void modesQueueOutput(struct modesMessage *mm, struct aircraft *a);
 void modesNetPeriodicWork(void);
 
-void writeFATSVHeader();
-
 // TODO: move these somewhere else
 char *generateAircraftJson(const char *url_path, int *len);
 char *generateStatsJson(const char *url_path, int *len);

prepare-build.sh

@@ -11,8 +11,8 @@ then
     exit 1
 fi
 
-export DEBFULLNAME=${DEBFULLNAME:-FlightAware build automation}
+export DEBFULLNAME="${DEBFULLNAME:-FlightAware build automation}"
-export DEBEMAIL=${DEBEMAIL:-adsb-devs@flightaware.com}
+export DEBEMAIL="${DEBEMAIL:-adsb-devs@flightaware.com}"
 
 TOP=`dirname $0`
 DIST=$1

public_html/planeObject.js

@@ -384,7 +384,16 @@ PlaneObject.prototype.updateIcon = function() {
         var outline = (this.position_from_mlat ? OutlineMlatColor : OutlineADSBColor);
         var add_stroke = (this.selected && !SelectedAllPlanes) ? ' stroke="black" stroke-width="1px"' : '';
         var baseMarker = getBaseMarker(this.category, this.icaotype, this.typeDescription, this.wtc);
-        var rotation = (this.track === null ? 0 : this.track);
+        var rotation = this.track;
+        if (rotation === null) {
+                rotation = this.true_heading;
+        }
+        if (rotation === null) {
+                rotation = this.mag_heading;
+        }
+        if (rotation === null) {
+                rotation = 0;
+        }
         //var transparentBorderWidth = (32 / baseMarker.scale / scaleFactor).toFixed(1);
 
         var svgKey = col + '!' + outline + '!' + baseMarker.svg + '!' + add_stroke + "!" + scaleFactor;
@@ -445,7 +454,7 @@ PlaneObject.prototype.updateData = function(receiver_timestamp, data) {
 
         var fields = ["alt_baro", "alt_geom", "gs", "ias", "tas", "track",
                       "track_rate", "mag_heading", "true_heading", "mach",
-					  "roll", "nav_altitude", "nav_heading", "nav_modes",
+					  "roll", "nav_heading", "nav_modes",
 					  "nac_p", "nac_v", "nic_baro", "sil_type", "sil",
                       "nav_qnh", "baro_rate", "geom_rate", "rc",
                       "squawk", "category", "version"];
@@ -498,6 +507,15 @@ PlaneObject.prototype.updateData = function(receiver_timestamp, data) {
                 this.altitude = null;
         }
 
+        // Pick a selected altitude
+        if ('nav_altitude_fms' in data) {
+                this.nav_altitude = data.nav_altitude_fms;
+        } else if ('nav_altitude_mcp' in data) {
+                this.nav_altitude = data.nav_altitude_mcp;
+        } else {
+                this.nav_altitude = null;
+        }
+
         // Pick vertical rate from either baro or geom rate
         // geometric rate is generally more reliable (smoothed etc)
         if ('geom_rate' in data) {

public_html/script.js

@@ -389,6 +389,9 @@ function start_load_history() {
 		for (var i = 0; i < PositionHistorySize; i++) {
 			load_history_item(i);
 		}
+	} else {
+		// Nothing to load
+		end_load_history();
 	}
 }
 

sdr_bladerf.c

@@ -23,6 +23,11 @@
 #include <libbladeRF.h>
 #include <inttypes.h>
 
+// Polyfill for the older bladerf API
+#if defined(LIBBLADERF_API_VERSION) && (LIBBLADERF_API_VERSION < 0x02000000)
+typedef unsigned int bladerf_frequency;
+#endif
+
 static struct {
     const char *device_str;
     const char *fpga_path;
@@ -102,7 +107,7 @@ static void show_config()
     int status;
 
     unsigned rate;
-    unsigned freq;
+    bladerf_frequency freq;
     bladerf_lpf_mode lpf_mode;
     unsigned lpf_bw;
     bladerf_lna_gain lna_gain;

sdr_rtlsdr.c

@@ -362,10 +362,11 @@ void rtlsdrRun()
 
     start_cpu_timing(&rtlsdr_thread_cpu);
 
-    while (!Modes.exit) {
+    rtlsdr_read_async(RTLSDR.dev, rtlsdrCallback, NULL,
-        rtlsdr_read_async(RTLSDR.dev, rtlsdrCallback, NULL,
+                      /* MODES_RTL_BUFFERS */ 4,
-                          /* MODES_RTL_BUFFERS */ 4,
+                      MODES_RTL_BUF_SIZE);
-                          MODES_RTL_BUF_SIZE);
+    if (!Modes.exit) {
+        fprintf(stderr, "rtlsdr: rtlsdr_read_async returned unexpectedly, probably lost the USB device, bailing out\n");
     }
 }
 

track.c

@@ -116,7 +116,9 @@ struct aircraft *trackCreateAircraft(struct modesMessage *mm) {
     F(squawk,          15, 70);  // ADS-B or Mode S
     F(airground,       15, 70);  // ADS-B or Mode S
     F(nav_qnh,         60, 70);  // Comm-B only
-    F(nav_altitude,    60, 70);  // ADS-B or Comm-B
+    F(nav_altitude_mcp, 60, 70);  // ADS-B or Comm-B
+    F(nav_altitude_fms, 60, 70);  // ADS-B or Comm-B
+    F(nav_altitude_src, 60, 70); // ADS-B or Comm-B
     F(nav_heading,     60, 70);  // ADS-B or Comm-B
     F(nav_modes,       60, 70);  // ADS-B or Comm-B
     F(cpr_odd,         60, 70);  // ADS-B only
@@ -302,6 +304,18 @@ static int speed_check(struct aircraft *a, double lat, double lon, int surface)
     return inrange;
 }
 
+// return 1 if left_rc is worse (less accurate) than right_rc
+static int rcIsWorse(int left_rc, int right_rc)
+{
+    if (left_rc == 0 && right_rc == 0) // both unknown
+        return 0;
+    if (left_rc == 0)
+        return 1; // left unknown < right known
+    if (right_rc == 0)
+        return 0; // left known > right unknown
+    return (left_rc > right_rc);
+}
+
 static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, double *lat, double *lon, unsigned *nic, unsigned *rc)
 {
     int result;
@@ -309,9 +323,9 @@ static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, double *lat,
     int surface = (mm->cpr_type == CPR_SURFACE);
 
     // derive NIC, Rc from the worse of the two position
-    // smaller NIC is worse; larger Rc is worse
+    // smaller NIC is worse
     *nic = (a->cpr_even_nic < a->cpr_odd_nic ? a->cpr_even_nic : a->cpr_odd_nic);
-    *rc = (a->cpr_even_rc > a->cpr_odd_rc ? a->cpr_even_rc : a->cpr_odd_rc);
+    *rc = (rcIsWorse(a->cpr_even_rc, a->cpr_odd_rc) ? a->cpr_even_rc : a->cpr_odd_rc);
 
     if (surface) {
         // surface global CPR
@@ -372,7 +386,7 @@ static int doGlobalCPR(struct aircraft *a, struct modesMessage *mm, double *lat,
         return result;
 
     // check speed limit
-    if (trackDataValid(&a->position_valid) && a->pos_nic >= *nic && a->pos_rc <= *rc && !speed_check(a, *lat, *lon, surface)) {
+    if (trackDataValid(&a->position_valid) && a->pos_nic >= *nic && !rcIsWorse(a->pos_rc, *rc) && !speed_check(a, *lat, *lon, surface)) {
         Modes.stats_current.cpr_global_speed_checks++;
         return -2;
     }
@@ -404,7 +418,7 @@ static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, double *lat,
 
         if (a->pos_nic < *nic)
             *nic = a->pos_nic;
-        if (a->pos_rc < *rc)
+        if (rcIsWorse(a->pos_rc, *rc))
             *rc = a->pos_rc;
 
         range_limit = 50e3;
@@ -454,7 +468,7 @@ static int doLocalCPR(struct aircraft *a, struct modesMessage *mm, double *lat,
     }
 
     // check speed limit
-    if (trackDataValid(&a->position_valid) && a->pos_nic >= *nic && a->pos_rc <= *rc && !speed_check(a, *lat, *lon, surface)) {
+    if (trackDataValid(&a->position_valid) && a->pos_nic >= *nic && !rcIsWorse(a->pos_rc, *rc) && !speed_check(a, *lat, *lon, surface)) {
 #ifdef DEBUG_CPR_CHECKS
         fprintf(stderr, "Speed check for %06X with local decoding failed\n", a->addr);
 #endif
@@ -661,6 +675,8 @@ static unsigned compute_nic(unsigned metype, unsigned version, unsigned nic_a, u
 
 static unsigned compute_rc(unsigned metype, unsigned version, unsigned nic_a, unsigned nic_b, unsigned nic_c)
 {
+    // ED-102 Table 2-14, Table N-4, Table N-11
+
     switch (metype) {
     case 5: // surface
     case 9: // airborne
@@ -696,7 +712,7 @@ static unsigned compute_rc(unsigned metype, unsigned version, unsigned nic_a, un
             } else if (nic_a && !nic_c) {
                 return 556; // 555.6m, 0.3NM
             } else if (!nic_a && nic_c) {
-                return 926; // 926m, 0.5NM
+                return 1111; // 1111m, 0.6NM
             } else {
                 return RC_UNKNOWN;
             }
@@ -709,16 +725,16 @@ static unsigned compute_rc(unsigned metype, unsigned version, unsigned nic_a, un
             if (nic_a && nic_b) {
                 return 75;
             } else {
-                return 186; // 370.4m, 0.2NM
+                return 186; // 185.2m, 0.1NM
             }
         } else if (version == 1) {
             if (nic_a) {
                 return 75;
             } else {
-                return 186; // 370.4m, 0.2NM
+                return 186; // 185.2m, 0.1NM
             }
         } else {
-            return 186; // 370.4m, 0.2NM
+            return 186; // 185.2m, 0.1NM
         }
 
     case 12: // airborne
@@ -776,6 +792,81 @@ static unsigned compute_rc(unsigned metype, unsigned version, unsigned nic_a, un
     }
 }
 
+// Map ADS-B v0 position message type to NACp value
+// returned computed NACp, or -1 if not a suitable message type
+static int compute_v0_nacp(struct modesMessage *mm)
+{
+    if (mm->msgtype != 17 && mm->msgtype != 18) {
+        return -1;
+    }
+
+    // ED-102A Table N-7
+    switch (mm->metype) {
+    case 0: return 0;
+    case 5: return 11;
+    case 6: return 10;
+    case 7: return 8;
+    case 8: return 0;
+    case 9: return 11;
+    case 10: return 10;
+    case 11: return 8;
+    case 12: return 7;
+    case 13: return 6;
+    case 14: return 5;
+    case 15: return 4;
+    case 16: return 1;
+    case 17: return 1;
+    case 18: return 0;
+    case 20: return 11;
+    case 21: return 10;
+    case 22: return 0;
+    default: return -1;
+    }
+}
+
+// Map ADS-B v0 position message type to SIL value
+// returned computed SIL, or -1 if not a suitable message type
+static int compute_v0_sil(struct modesMessage *mm)
+{
+    if (mm->msgtype != 17 && mm->msgtype != 18) {
+        return -1;
+    }
+
+    // ED-102A Table N-8
+    switch (mm->metype) {
+    case 0:
+        return 0;
+
+    case 5:
+    case 6:
+    case 7:
+    case 8:
+    case 9:
+    case 10:
+    case 11:
+    case 12:
+    case 13:
+    case 14:
+    case 15:
+    case 16:
+    case 17:
+        return 2;
+
+    case 18:
+        return 0;
+
+    case 20:
+    case 21:
+        return 2;
+
+    case 22:
+        return 0;
+
+    default:
+        return -1;
+    }
+}
+
 static void compute_nic_rc_from_message(struct modesMessage *mm, struct aircraft *a, unsigned *nic, unsigned *rc)
 {
     int nic_a = (trackDataValid(&a->nic_a_valid) && a->nic_a);
@@ -861,6 +952,23 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
         }
     }
 
+    // fill in ADS-B v0 NACp, SIL from position message type
+    if (a->adsb_version == 0 && !mm->accuracy.nac_p_valid) {
+        int computed_nacp = compute_v0_nacp(mm);
+        if (computed_nacp != -1) {
+            mm->accuracy.nac_p_valid = 1;
+            mm->accuracy.nac_p = computed_nacp;
+        }
+    }
+
+    if (a->adsb_version == 0 && mm->accuracy.sil_type == SIL_INVALID) {
+        int computed_sil = compute_v0_sil(mm);
+        if (computed_sil != -1) {
+            mm->accuracy.sil_type = SIL_UNKNOWN;
+            mm->accuracy.sil = computed_sil;
+        }
+    }
+
     if (mm->altitude_baro_valid && accept_data(&a->altitude_baro_valid, mm->source)) {
         int alt = altitude_to_feet(mm->altitude_baro, mm->altitude_baro_unit);
         if (a->modeC_hit) {
@@ -985,12 +1093,16 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
         memcpy(a->callsign, mm->callsign, sizeof(a->callsign));
     }
 
-    // prefer MCP over FMS
+    if (mm->nav.mcp_altitude_valid && accept_data(&a->nav_altitude_mcp_valid, mm->source)) {
-    // unless the source says otherwise
+        a->nav_altitude_mcp = mm->nav.mcp_altitude;
-    if (mm->nav.mcp_altitude_valid && mm->nav.altitude_source != NAV_ALT_FMS && accept_data(&a->nav_altitude_valid, mm->source)) {
+    }
-        a->nav_altitude = mm->nav.mcp_altitude;
+
-    } else if (mm->nav.fms_altitude_valid && accept_data(&a->nav_altitude_valid, mm->source)) {
+    if (mm->nav.fms_altitude_valid && accept_data(&a->nav_altitude_fms_valid, mm->source)) {
-        a->nav_altitude = mm->nav.fms_altitude;
+        a->nav_altitude_fms = mm->nav.fms_altitude;
+    }
+
+    if (mm->nav.altitude_source != NAV_ALT_INVALID && accept_data(&a->nav_altitude_src_valid, mm->source)) {
+        a->nav_altitude_src = mm->nav.altitude_source;
     }
 
     if (mm->nav.heading_valid && accept_data(&a->nav_heading_valid, mm->source)) {
@@ -1205,7 +1317,9 @@ static void trackRemoveStaleAircraft(uint64_t now)
             EXPIRE(squawk);
             EXPIRE(airground);
             EXPIRE(nav_qnh);
-            EXPIRE(nav_altitude);
+            EXPIRE(nav_altitude_mcp);
+            EXPIRE(nav_altitude_fms);
+            EXPIRE(nav_altitude_src);
             EXPIRE(nav_heading);
             EXPIRE(nav_modes);
             EXPIRE(cpr_odd);

track.h

@@ -151,8 +151,14 @@ struct aircraft {
     data_validity nav_qnh_valid;
     float         nav_qnh;        // Altimeter setting (QNH/QFE), millibars
 
-    data_validity nav_altitude_valid;
+    data_validity nav_altitude_mcp_valid;
-    unsigned      nav_altitude;    // FMS or FCU selected altitude
+    unsigned      nav_altitude_mcp;    // FCU/MCP selected altitude
+
+    data_validity nav_altitude_fms_valid;
+    unsigned      nav_altitude_fms;    // FMS selected altitude
+
+    data_validity nav_altitude_src_valid;
+    nav_altitude_source_t nav_altitude_src;  // source of altitude used by automation
 
     data_validity nav_heading_valid;
     float         nav_heading; // target heading, degrees (0-359)
@@ -220,7 +226,9 @@ struct aircraft {
     unsigned      fatsv_emitted_tas;              //      -"-         TAS
     float         fatsv_emitted_mach;             //      -"-         Mach number
     airground_t   fatsv_emitted_airground;        //      -"-         air/ground state
-    unsigned      fatsv_emitted_nav_altitude;     //      -"-         target altitude
+    unsigned      fatsv_emitted_nav_altitude_mcp; //      -"-         MCP altitude
+    unsigned      fatsv_emitted_nav_altitude_fms; //      -"-         FMS altitude
+    unsigned      fatsv_emitted_nav_altitude_src; //      -"-         automation altitude source
     float         fatsv_emitted_nav_heading;      //      -"-         target heading
     nav_modes_t   fatsv_emitted_nav_modes;        //      -"-         enabled navigation modes
     float         fatsv_emitted_nav_qnh;          //      -"-         altimeter setting