PX4 can use MAVLink
UTM_GLOBAL_POSITION 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
Configure the trigger distance and action when there is a potential collision using the parameters below:
|NAV_TRAFF_AVOID||Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode.|
|NAV_TRAFF_A_RADM||Set traffic avoidance trigger distance for manned aviation|
|NAV_TRAFF_A_RADU||Set traffic avoidance trigger distance for unmanned aviation|
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.
UTM_GLOBAL_POSITION contains additional fields that are not provided by an ADSB transponder (see ADSB_VEHICLE). The current implementation simply drops the additional fields (including information about the vehicle's planned next waypoint).