From bbae5047d19d5cc8b7727b20ea80db7f7b5b2c3f Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Mon, 10 Aug 2020 22:55:20 -0500
Subject: [PATCH] Fix ADSB heading math and add heading to ADSB log
---
firmware/application/apps/ui_adsb_rx.cpp | 3 +++
firmware/common/adsb.cpp | 11 +++++++----
2 files changed, 10 insertions(+), 4 deletions(-)
diff --git a/firmware/application/apps/ui_adsb_rx.cpp b/firmware/application/apps/ui_adsb_rx.cpp
index 52c55756..bd158620 100644
--- a/firmware/application/apps/ui_adsb_rx.cpp
+++ b/firmware/application/apps/ui_adsb_rx.cpp
@@ -244,6 +244,9 @@ void ADSBRxView::on_frame(const ADSBFrameMessage * message) {
}
} else if(msg_type == 19 && msg_sub >= 1 && msg_sub <= 4){
entry.set_frame_velo(frame);
+ logentry += "Type:" + to_string_dec_uint(msg_sub) +
+ " Hdg:" + to_string_dec_uint(entry.velo.heading) +
+ " Spd: "+ to_string_dec_int(entry.velo.speed);
if (send_updates)
details_view->update(entry);
}
diff --git a/firmware/common/adsb.cpp b/firmware/common/adsb.cpp
index 6a4412fe..3f8f4c23 100644
--- a/firmware/common/adsb.cpp
+++ b/firmware/common/adsb.cpp
@@ -332,16 +332,19 @@ adsb_vel decode_frame_velo(ADSBFrame& frame){
}
if(velo_type == 1 || velo_type == 2){ //Ground Speed
- int32_t velo_ew = (((frame_data[5] & 0x03) << 8) | frame_data[6]) - 1;
- int32_t velo_ns = ((frame_data[7] & 0x7f) << 3) | ((frame_data[8]) >> 5) - 1;
+ int32_t raw_ew = ((frame_data[5] & 0x03) << 8) | frame_data[6];
+ int32_t velo_ew = raw_ew - 1; //velocities are all offset by one (this is part of the spec)
+
+ int32_t raw_ns = ((frame_data[7] & 0x7f) << 3) | (frame_data[8] >> 5);
+ int32_t velo_ns = raw_ns - 1;
if (velo_type == 2){ // supersonic indicator so multiply by 4
velo_ew = velo_ew << 2;
velo_ns = velo_ns << 2;
}
- if((frame_data[5]&4) >> 2) velo_ew *= -1; //check ew direction sign
- if((frame_data[7]&0x80) >> 7) velo_ns *= -1; //check ns direction sign
+ if(frame_data[5]&0x04) velo_ew *= -1; //check ew direction sign
+ if(frame_data[7]&0x80) velo_ns *= -1; //check ns direction sign
velo.speed = sqrt(velo_ns*velo_ns + velo_ew*velo_ew);
--
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