DetectAndAvoid (UORB message)

Detect-and-avoid conflict assessment for one traffic aircraft.

Detailed per-traffic output from navigator's DetectAndAvoid component. A sample is published when an evaluated report indicates a conflict or updates an aircraft already tracked as a conflict. New reports assessed at NONE are omitted.

Unlike detect_and_avoid_most_urgent, this topic does not summarize the single active conflict driving DAA actions or prearm checks. It reports the conflict level and geometry for the specific traffic aircraft that was just evaluated.

Published by: navigator (DetectAndAvoid) Used by: logging and tests

TOPICS: detect_and_avoid

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
unique_id	uint64			Encoded traffic identifier selected in priority order: ICAO address, ADS-B callsign, then reduced UAS ID tail bytes
unique_id_encoding	uint8			Namespace used to decode unique_id
conflict_level	uint8			Conflict level calculated for this traffic aircraft
aircraft_dist	float32	m		Current 3D point-to-point range between ownship and the traffic aircraft
aircraft_dist_hor	float32	m [NED]		Horizontal separation metric. In Crosstrack mode this is the signed crosstrack distance when available, otherwise direct horizontal range
aircraft_dist_vert	float32	m [NED]		Vertical separation between ownship (the current vehicle) and the traffic aircraft
expected_min_dist_time	float32	s		Conservative collision-time estimate from current 3D separation and the sum of ownship and traffic speed magnitudes

Constants

Name	Type	Value	Description
DAA_CONFLICT_LVL_NONE	uint8	0
DAA_CONFLICT_LVL_LOW	uint8	1
DAA_CONFLICT_LVL_MEDIUM	uint8	2
DAA_CONFLICT_LVL_HIGH	uint8	3
DAA_CONFLICT_LVL_CRITICAL	uint8	4
UNIQUE_ID_ENCODING_ICAO	uint8	0	unique_id contains an ICAO address
UNIQUE_ID_ENCODING_ADSB_CALLSIGN	uint8	1	unique_id contains an ADS-B callsign packed into a uint64
UNIQUE_ID_ENCODING_UAS_ID	uint8	2	unique_id contains the reduced tail bytes of a UAS ID
ORB_QUEUE_LENGTH	uint8	16

Source Message

Source file (GitHub)

Click here to see original file

# Detect-and-avoid conflict assessment for one traffic aircraft.
#
# Detailed per-traffic output from navigator's `DetectAndAvoid` component.
# A sample is published when an evaluated report indicates a conflict or updates
# an aircraft already tracked as a conflict. New reports assessed at NONE are omitted.
#
# Unlike `detect_and_avoid_most_urgent`, this topic does not summarize the single
# active conflict driving DAA actions or prearm checks. It reports the conflict level
# and geometry for the specific traffic aircraft that was just evaluated.
#
# Published by: `navigator` (`DetectAndAvoid`)
# Used by: logging and tests

uint8 DAA_CONFLICT_LVL_NONE = 0
uint8 DAA_CONFLICT_LVL_LOW = 1
uint8 DAA_CONFLICT_LVL_MEDIUM = 2
uint8 DAA_CONFLICT_LVL_HIGH = 3
uint8 DAA_CONFLICT_LVL_CRITICAL = 4

uint8 UNIQUE_ID_ENCODING_ICAO = 0 # `unique_id` contains an ICAO address
uint8 UNIQUE_ID_ENCODING_ADSB_CALLSIGN = 1 # `unique_id` contains an ADS-B callsign packed into a `uint64`
uint8 UNIQUE_ID_ENCODING_UAS_ID = 2 # `unique_id` contains the reduced tail bytes of a UAS ID

uint8 ORB_QUEUE_LENGTH = 16

uint64 timestamp # [us] Time since system start
uint64 unique_id # [-] Encoded traffic identifier selected in priority order: ICAO address, ADS-B callsign, then reduced UAS ID tail bytes
uint8 unique_id_encoding # [-] Namespace used to decode `unique_id`

uint8 conflict_level # [-] Conflict level calculated for this traffic aircraft
float32 aircraft_dist # [m] Current 3D point-to-point range between ownship and the traffic aircraft
float32 aircraft_dist_hor # [m] [@frame NED] Horizontal separation metric. In Crosstrack mode this is the signed crosstrack distance when available, otherwise direct horizontal range
float32 aircraft_dist_vert # [m] [@frame NED] Vertical separation between ownship (the current vehicle) and the traffic aircraft
float32 expected_min_dist_time # [s] Conservative collision-time estimate from current 3D separation and the sum of ownship and traffic speed magnitudes