TransponderReport (UORB message)

Transponder report.

ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end. Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information.

TOPICS: transponder_report

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
icao_address	uint32			ICAO address
lat	float64	deg		Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
lon	float64	deg		Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
altitude_type	uint8			Type from ADSB_ALTITUDE_TYPE enum
altitude	float32	m		Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE
heading	float32	rad		Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING
hor_velocity	float32	m/s		Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
ver_velocity	float32	m/s		Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
callsign	char[9]			The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN
emitter_type	uint8		ADSB_EMITTER_TYPE	Type matching MAVLink's ADSB_EMITTER_TYPE enum
tslc	uint8	s		Time since last communication
flags	uint16		PX4_ADSB_FLAGS	Flags matching MAVLink's ADSB_FLAGS bitmask
squawk	uint16			Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK
uas_id	uint8[18]			Unique UAS ID, not part of ADSB_VEHICLE MAVLink message

Enums

ADSB_EMITTER_TYPE

Used in field(s): emitter_type

Name	Type	Value	Description
ADSB_EMITTER_TYPE_NO_INFO	uint16	0
ADSB_EMITTER_TYPE_LIGHT	uint16	1
ADSB_EMITTER_TYPE_SMALL	uint16	2
ADSB_EMITTER_TYPE_LARGE	uint16	3
ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE	uint16	4
ADSB_EMITTER_TYPE_HEAVY	uint16	5
ADSB_EMITTER_TYPE_HIGHLY_MANUV	uint16	6
ADSB_EMITTER_TYPE_ROTOCRAFT	uint16	7
ADSB_EMITTER_TYPE_UNASSIGNED	uint16	8
ADSB_EMITTER_TYPE_GLIDER	uint16	9
ADSB_EMITTER_TYPE_LIGHTER_AIR	uint16	10
ADSB_EMITTER_TYPE_PARACHUTE	uint16	11
ADSB_EMITTER_TYPE_ULTRA_LIGHT	uint16	12
ADSB_EMITTER_TYPE_UNASSIGNED2	uint16	13
ADSB_EMITTER_TYPE_UAV	uint16	14
ADSB_EMITTER_TYPE_SPACE	uint16	15
ADSB_EMITTER_TYPE_UNASSGINED3	uint16	16
ADSB_EMITTER_TYPE_EMERGENCY_SURFACE	uint16	17
ADSB_EMITTER_TYPE_SERVICE_SURFACE	uint16	18
ADSB_EMITTER_TYPE_POINT_OBSTACLE	uint16	19
ADSB_EMITTER_TYPE_ENUM_END	uint16	20

PX4_ADSB_FLAGS

Used in field(s): flags

Name	Type	Value	Description
PX4_ADSB_FLAGS_VALID_COORDS	uint16	1
PX4_ADSB_FLAGS_VALID_ALTITUDE	uint16	2
PX4_ADSB_FLAGS_VALID_HEADING	uint16	4
PX4_ADSB_FLAGS_VALID_VELOCITY	uint16	8
PX4_ADSB_FLAGS_VALID_CALLSIGN	uint16	16
PX4_ADSB_FLAGS_VALID_SQUAWK	uint16	32
PX4_ADSB_FLAGS_SIMULATED	uint16	64
PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID	uint16	128
PX4_ADSB_FLAGS_BARO_VALID	uint16	256
PX4_ADSB_FLAGS_SOURCE_UAT	uint16	32768

Constants

Name	Type	Value	Description
ORB_QUEUE_LENGTH	uint8	16

Source Message

Source file (GitHub)

Click here to see original file

# Transponder report
#
# ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end.
# Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information.

uint64 timestamp # [us] Time since system start

uint32 icao_address # [-] ICAO address
float64 lat # [deg] Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
float64 lon # [deg] Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
float32 altitude # [m] Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE
float32 heading # [rad] Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING
float32 hor_velocity # [m/s] Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
float32 ver_velocity # [m/s] Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
char[9] callsign # The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN

uint8 emitter_type # [@enum ADSB_EMITTER_TYPE] Type matching MAVLink's ADSB_EMITTER_TYPE enum
uint16 ADSB_EMITTER_TYPE_NO_INFO=0
uint16 ADSB_EMITTER_TYPE_LIGHT=1
uint16 ADSB_EMITTER_TYPE_SMALL=2
uint16 ADSB_EMITTER_TYPE_LARGE=3
uint16 ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE=4
uint16 ADSB_EMITTER_TYPE_HEAVY=5
uint16 ADSB_EMITTER_TYPE_HIGHLY_MANUV=6
uint16 ADSB_EMITTER_TYPE_ROTOCRAFT=7
uint16 ADSB_EMITTER_TYPE_UNASSIGNED=8
uint16 ADSB_EMITTER_TYPE_GLIDER=9
uint16 ADSB_EMITTER_TYPE_LIGHTER_AIR=10
uint16 ADSB_EMITTER_TYPE_PARACHUTE=11
uint16 ADSB_EMITTER_TYPE_ULTRA_LIGHT=12
uint16 ADSB_EMITTER_TYPE_UNASSIGNED2=13
uint16 ADSB_EMITTER_TYPE_UAV=14
uint16 ADSB_EMITTER_TYPE_SPACE=15
uint16 ADSB_EMITTER_TYPE_UNASSGINED3=16
uint16 ADSB_EMITTER_TYPE_EMERGENCY_SURFACE=17
uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
uint16 ADSB_EMITTER_TYPE_ENUM_END=20

uint8 tslc # [s] Time since last communication

uint16 flags # [@enum PX4_ADSB_FLAGS] Flags matching MAVLink's ADSB_FLAGS bitmask
uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
uint16 PX4_ADSB_FLAGS_SIMULATED = 64
uint16 PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID = 128
uint16 PX4_ADSB_FLAGS_BARO_VALID = 256
uint16 PX4_ADSB_FLAGS_SOURCE_UAT = 32768

uint16 squawk # [-] Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK

uint8[18] uas_id # [-] Unique UAS ID, not part of ADSB_VEHICLE MAVLink message

uint8 ORB_QUEUE_LENGTH = 16