Merge branch 'master' into qtapp

README

@@ -65,7 +65,7 @@ Implementation of ADS-B is mandatory in European airspace as well as
 in Australia. North American implementation is still voluntary, with
 a mandate arriving in 2020 via the FAA's "NextGen" program.
 
-The receiver uhd_modes.py is written for use with Ettus Research USRP
+The receiver modes_rx is written for use with Ettus Research USRP
 devices, although the "RTLSDR" receivers are also supported via the
 Osmocom driver. In theory, any receiver which outputs complex samples at
 at least 2Msps should work via the file input or UDP input options, or
@@ -122,10 +122,10 @@ install it on your system, generally in /usr/local/bin.
 ========================================================================
 USAGE
 
-The main application is uhd_modes.py. For a complete list of options,
+The main application is modes_rx. For a complete list of options,
 run:
 
-$ uhd_modes.py --help
+$ modes_rx --help
 
 For use with Ettus UHD-compatible devices, the defaults should suffice
 to receive reports and print to the screen. Use the -d option to look
@@ -141,7 +141,7 @@ FILES
 
 Interesting files and libraries included with the package:
 
-* apps/uhd_modes.py: The main application.
+* apps/modes_rx: The main application.
 * apps/get_correlated_records.py: Demonstration program for computing
   multilaterated time error for two unsynchronized receiver stations.
 * lib/air_modes_int_and_dump.cc: Unused integrate-and-dump filter for

lib/air_modes_preamble.cc

@@ -157,7 +157,7 @@ int air_modes_preamble::general_work(int noutput_items,
 
 			//be sure we've got enough room in the input buffer to copy out a whole packet
 			if(ninputs-i < 240*d_samples_per_chip) {
-				consume_each(i-1);
+				consume_each(std::max(i-1,0));
 				return 0;
 			}
 

python/kml.py

@@ -73,7 +73,7 @@ class output_kml(threading.Thread):
             bearing = i*(2*math.pi/steps) #in radians
             lat_out = math.degrees(math.asin(math.sin(lat_rad)*math.cos(tmp0) + math.cos(lat_rad)*math.sin(tmp0)*math.cos(bearing)))
             lon_out = center_lon + math.degrees(math.atan2(math.sin(bearing)*math.sin(tmp0)*math.cos(lat_rad), math.cos(tmp0)-math.sin(lat_rad)*math.sin(math.radians(lat_out))))
-            retstr += " %.8f, %.8f, 0" % (lon_out, lat_out,)
+            retstr += " %.8f,%.8f, 0" % (lon_out, lat_out,)
 
         retstr = string.lstrip(retstr)
         return retstr
@@ -150,7 +150,7 @@ class output_kml(threading.Thread):
                 heading = 0
                 vertical = 0        
             #now generate some KML
-            retstr+= "\n\t\t<Placemark>\n\t\t\t<name>%s</name>\n\t\t\t<styleUrl>#airplane</styleUrl>\n\t\t\t<description>\n\t\t\t\t<![CDATA[Altitude: %s<br/>Heading: %i<br/>Speed: %i<br/>Vertical speed: %i<br/>ICAO: %x<br/>Last seen: %s]]>\n\t\t\t</description>\n\t\t\t<Point>\n\t\t\t\t<altitudeMode>absolute</altitudeMode>\n\t\t\t\t<extrude>1</extrude>\n\t\t\t\t<coordinates>%s,%s,%i</coordinates>\n\t\t\t</Point>\n\t\t</Placemark>" % (ident, alt, heading, speed, vertical, icao[0], seen, lon, lat, metric_alt, )
+            retstr+= "\n\t\t<Placemark>\n\t\t\t<name>%s</name>\n\t\t\t<Style><IconStyle><heading>%i</heading></IconStyle></Style>\n\t\t\t<styleUrl>#airplane</styleUrl>\n\t\t\t<description>\n\t\t\t\t<![CDATA[Altitude: %s<br/>Heading: %i<br/>Speed: %i<br/>Vertical speed: %i<br/>ICAO: %x<br/>Last seen: %s]]>\n\t\t\t</description>\n\t\t\t<Point>\n\t\t\t\t<altitudeMode>absolute</altitudeMode>\n\t\t\t\t<extrude>1</extrude>\n\t\t\t\t<coordinates>%s,%s,%i</coordinates>\n\t\t\t</Point>\n\t\t</Placemark>" % (ident, heading, alt, heading, speed, vertical, icao[0], seen, lon, lat, metric_alt, )
 
             retstr+= "\n\t\t<Placemark>\n\t\t\t<styleUrl>#track</styleUrl>\n\t\t\t<LineString>\n\t\t\t\t<extrude>0</extrude>\n\t\t\t\t<altitudeMode>absolute</altitudeMode>\n\t\t\t\t<coordinates>%s</coordinates>\n\t\t\t</LineString>\n\t\t</Placemark>" % (trackstr,)
 

python/msprint.py

@@ -36,11 +36,10 @@ class output_print(air_modes.parse):
     reference = float(reference)
     timestamp = float(timestamp)
 
-    #TODO this is suspect
     if reference == 0.0:
       refdb = -150.0
     else:
-      refdb = 10.0*math.log10(reference)
+      refdb = 20.0*math.log10(reference)
     output = "(%.0f %.10f) " % (refdb, timestamp);
 
     try:
@@ -161,10 +160,18 @@ class output_print(air_modes.parse):
 
     elif bdsreg == 0x09:
       subtype = data["bds09"].get_type()
-      if subtype == 0 or subtype == 1:
+      if subtype == 0:
-        parser = self.parseBDS09_0 if subtype == 0 else self.parseBDS09_1
+        [velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(data)
-        [velocity, heading, vert_spd] = parser(data)
+        retstr = "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f turn rate %.0f" \
+                 % (subtype, icao24, velocity, heading, vert_spd, turnrate)
+      elif subtype == 1:
+        [velocity, heading, vert_spd] = self.parseBDS09_1(data)
         retstr = "Type 17 BDS0,9-%i (track report) from %x with velocity %.0fkt heading %.0f VS %.0f" % (subtype, icao24, velocity, heading, vert_spd)
+      elif subtype == 3:
+        [mag_hdg, vel_src, vel, vert_spd, geo_diff] = self.parseBDS09_3(data)
+        retstr = "Type 17 BDS0,9-%i (air course report) from %x with %s %.0fkt magnetic heading %.0f VS %.0f geo. diff. from baro. alt. %.0fft" \
+                 % (subtype, icao24, vel_src, vel, mag_hdg, vert_spd, geo_diff)
+    
       else:
         retstr = "Type 17 BDS0,9-%i from %x not implemented" % (subtype, icao24)
 

python/parse.py

@@ -345,6 +345,21 @@ class parse:
 
     return [velocity, heading, vert_spd]
 
+  def parseBDS09_3(self, data):
+    #3: {"sub", "icf", "ifr", "nuc", "mhs", "hdg", "ast", "spd", "vrsrc",
+    #    "dvr", "vr", "dhd", "hd"}
+    mag_hdg = data["mhs"] * 360. / 1024
+    vel_src = "TAS" if data["ast"] == 1 else "IAS"
+    vel = data["spd"]
+    if data["sub"] == 4:
+        vel *= 4
+    vert_spd = float(data["vr"] - 1) * 64
+    if data["dvr"] == 1:
+        vert_spd = 0 - vert_spd
+    geo_diff = float(data["hd"] - 1) * 25
+    return [mag_hdg, vel_src, vel, vert_spd, geo_diff]
+      
+
   def parseBDS62(self, data):
     eps_strings = ["NO EMERGENCY", "GENERAL EMERGENCY", "LIFEGUARD/MEDICAL", "FUEL EMERGENCY",
                    "NO COMMUNICATIONS", "UNLAWFUL INTERFERENCE", "RESERVED", "RESERVED"]

python/sbs1.py

@@ -146,7 +146,7 @@ class output_sbs1(air_modes.parse):
   def pp5(self, shortdata, ecc):
     # I'm not sure what to do with the identiifcation shortdata & 0x1FFF
     [datestr, timestr] = self.current_time()
-    [fs, dr, um] = self.parse5(shortdata)
+    [fs, dr, um, ident] = self.parse5(shortdata)
     aircraft_id = self.get_aircraft_id(ecc)
     retstr = "MSG,6,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr)
     return retstr + self.decode_fs(fs) + "\n"

python/sql.py

@@ -125,9 +125,13 @@ class output_sql(air_modes.parse):
 
     elif bdsreg == 0x09:
       subtype = data["bds09"].get_type()
-      if subtype == 0 or subtype == 1:
+      if subtype == 0:
-        parser = self.parseBDS09_0 if subtype == 0 else self.parseBDS09_1
+        [velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(data)
-        [velocity, heading, vert_spd] = parser(data)
         retstr = "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
-
+      elif subtype == 1:
+        [velocity, heading, vert_spd] = self.parseBDS09_1(data)  
+        retstr = "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
+      else:
+        retstr = None
+        
     return retstr