# Air Traffic Avoidance: UAS Traffic Management (UTM)

PX4 can use MAVLink UTM_GLOBAL_POSITION (opens new window) messages to support simple air traffic avoidance in missions. If a potential collision is detected, PX4 can warn, immediately land, or return (depending on the value of NAV_TRAFF_AVOID).

Note This implementation is exactly the same as for ADS-B traffic avoidance (except for the source of other-vehicle data). For more information see implementation below.

# Configure Traffic Avoidance

Configure the trigger distance and action when there is a potential collision using the parameters below:

参数 描述
!!crwdBlockTags_4_sgaTkcolBdwrc!NAV_TRAFF_AVOID Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode.
!!crwdBlockTags_5_sgaTkcolBdwrc!NAV_TRAFF_A_RADM Set traffic avoidance trigger distance for manned aviation.
!!crwdBlockTags_6_sgaTkcolBdwrc!NAV_TRAFF_A_RADU Set traffic avoidance trigger distance for unmanned aviation.

# 实现

PX4 listens for UTM_GLOBAL_POSITION MAVLink messages during missions. When a valid message is received, its validity flags, position and heading are mapped into the same transponder_report UORB topic used for ADS-B traffic avoidance.

The implementation is otherwise exactly as described in: ADS-B traffic avoidance > Implementation.

Note UTM_GLOBAL_POSITION (opens new window) contains additional fields that are not provided by an ADSB transponder (see ADSB_VEHICLE (opens new window)). The current implementation simply drops the additional fields (including information about the vehicle's planned next waypoint).

# 更多信息