git workflow

fix typing
update version and dependencies
2024-08-25 13:38:06 +02:00 · 2024-08-25 12:45:24 +02:00 · 2024-08-25 12:37:50 +02:00 · 2024-08-25 12:37:37 +02:00 · 2024-08-25 12:33:28 +02:00 · 2024-08-25 12:27:12 +02:00
67 changed files with 4267 additions and 1015 deletions
--- a/.coveragerc
+++ b/.coveragerc
@ -0,0 +1,12 @@
+[run]
+branch = True
+include = */pyModeS/*
+omit = *tests*
+
+[report]
+exclude_lines =
+    coverage: ignore
+    raise NotImplementedError
+    if TYPE_CHECKING:
+
+ignore_errors = True
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@ -0,0 +1,11 @@
+version: 2
+updates:
+  - package-ecosystem: "pip"
+    directory: "/"
+    schedule:
+      interval: "monthly"
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "monthly"
--- a/.github/workflows/build-publish.yml
+++ b/.github/workflows/build-publish.yml
@ -0,0 +1,16 @@
+name: build and publish
+
+on:
+  release:
+    types: [created]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Build and publish to pypi
+        uses: JRubics/poetry-publish@v2.0
+        with:
+          poetry_version: "==1.8.2"
+          pypi_token: ${{ secrets.PYPI_API_TOKEN_PYMODES }}
--- a/.github/workflows/run-tests.yml
+++ b/.github/workflows/run-tests.yml
@ -0,0 +1,70 @@
+name: tests
+
+on:
+  push:
+  pull_request_target:
+  workflow_dispatch:
+
+env:
+  POETRY_VERSION: "1.6.1"
+
+jobs:
+  deploy:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+        python-version: ["3.9", "3.10", "3.11", "3.12"]
+
+    env:
+      PYTHON_VERSION: ${{ matrix.python-version }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      # virtualenv cache should depends on OS, Python version and `poetry.lock` (and optionally workflow files).
+      - name: Cache Packages
+        uses: actions/cache@v4
+        if: ${{ !startsWith(runner.os, 'windows') }}
+        with:
+          path: |
+            ~/.local
+            .venv
+          key: poetry-${{ runner.os }}-${{ env.PYTHON_VERSION }}-${{ hashFiles('**/poetry.lock') }}
+
+      - name: Add poetry to windows path
+        if: "startsWith(runner.os, 'windows')"
+        run: |
+          echo "C:\Users\runneradmin\.local\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+
+      - name: Install and configure Poetry
+        uses: snok/install-poetry@v1.4.0
+        with:
+          version: ${{ env.POETRY_VERSION }}
+          virtualenvs-create: true
+          virtualenvs-in-project: true
+
+      - name: Display Python version
+        run: poetry run python -c "import sys; print(sys.version)"
+
+      - name: Install dependencies
+        run: |
+          poetry install
+
+      - name: Type checking
+        run: |
+          poetry run mypy pyModeS
+
+      - name: Run tests
+        run: |
+          poetry run pytest tests --cov --cov-report term-missing
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          env_vars: PYTHON_VERSION
--- a/.gitignore
+++ b/.gitignore
@ -5,9 +5,6 @@ __pycache__/
 *.py[cod]
 .pytest_cache/

-#cython
-*.c
-
 # C extensions
 *.so

--- a/11
+++ b/11
@ -8,11 +8,18 @@ ext:
 	python setup.py build_ext --inplace

 test:
+	make clean
+	@echo ""
+	@echo "[Test with py_common]"
+	python -m pytest tests
+	@echo ""
+	@echo "[Test with c_common]"
+	python setup.py build_ext --inplace
 	python -m pytest tests

 clean:
-	find pyModeS/decoder -type f -name '*.c' -delete
-	find pyModeS/decoder -type f -name '*.so' -delete
+	find pyModeS -type f -name '*.c' -delete
+	find pyModeS -type f -name '*.so' -delete
 	find . | grep -E "(__pycache__|\.pyc|\.pyo$$)" | xargs rm -rf
 	rm -rf *.egg-info
 	rm -rf .pytest_cache
--- a/README.rst
+++ b/README.rst
@ -1,7 +1,7 @@
 The Python ADS-B/Mode-S Decoder
 ===============================

-PyModeS is a Python library designed to decode Mode-S (including ADS-B) message. It can be imported to your python project or used as a standalone tool to view and save live traffic data.
+PyModeS is a Python library designed to decode Mode-S (including ADS-B) messages. It can be imported to your python project or used as a standalone tool to view and save live traffic data.

 This is a project created by Junzi Sun, who works at `TU Delft <https://www.tudelft.nl/en/>`_, `Aerospace Engineering Faculty <https://www.tudelft.nl/en/ae/>`_, `CNS/ATM research group <http://cs.lr.tudelft.nl/atm/>`_. It is supported by many `contributors <https://github.com/junzis/pyModeS/graphs/contributors>`_ from different institutions.

@ -72,21 +72,35 @@ Installation examples::
  # stable version
  pip install pyModeS

+  # conda (compiled) version
+  conda install -c conda-forge pymodes
+
  # development version
  pip install git+https://github.com/junzis/pyModeS


-Dependencies ``numpy``, ``pyzmq`` and ``pyrtlsdr`` are installed automatically during previous installations processes.
+Dependencies ``numpy``, and ``pyzmq`` are installed automatically during previous installations processes. 
+
+If you need to connect pyModeS to a RTL-SDR receiver, ``pyrtlsdr`` need to be installed manually::
+
+  pip install pyrtlsdr
+

 Advanced installation (using c modules)
 ------------------------------------------

 If you want to make use of the (faster) c module, install ``pyModeS`` as follows::

+  # conda (compiled) version
+  conda install -c conda-forge pymodes
+
+  # stable version
+  pip install pyModeS
+
+  # development version
  git clone https://github.com/junzis/pyModeS
  cd pyModeS
-  make ext
-  make install
+  poetry install -E rtlsdr


 View live traffic (modeslive)
@ -112,7 +126,7 @@ General usage::
 Live with RTL-SDR
 *******************

-If you have an RTL-SDR receiver plugged to the computer, you can connect it with ``rtlsdr`` source switch, shown as follows::
+If you have an RTL-SDR receiver connected to your computer, you can use the ``rtlsdr`` source switch (require ``pyrtlsdr`` package), with command::

  $ modeslive --source rtlsdr

@ -261,8 +275,20 @@ Mode-S Enhanced Surveillance (EHS)
  pms.commb.vr60ins(msg)    # Inertial vertical speed (ft/min)


-Meteorological routine air report (MRAR) [Experimental]
-********************************************************
+Meteorological reports [Experimental]
+**************************************
+
+To identify BDS 4,4 and 4,5 codes, you must set ``mrar`` argument to ``True`` in the ``infer()`` function:
+
+.. code:: python
+
+  pms.bds.infer(msg. mrar=True) 
+
+Once the correct MRAR and MHR messages are identified, decode them as follows:
+
+
+Meteorological routine air report (MRAR)
+++++++++++++++++++++++++++++++++++++++++

 .. code:: python

@ -273,8 +299,8 @@ Meteorological routine air report (MRAR) [Experimental]
  pms.commb.hum44(msg)      # Humidity (%)


-Meteorological hazard air report (MHR) [Experimental]
-*******************************************************
+Meteorological hazard air report (MHR)
+++++++++++++++++++++++++++++++++++++++++

 .. code:: python

--- a/build.py
+++ b/build.py
@ -0,0 +1,67 @@
+import os
+import shutil
+import sys
+
+# import pip
+from Cython.Build import cythonize
+from setuptools import Distribution, Extension
+from setuptools.command import build_ext
+
+
+def build() -> None:
+    compile_args = []
+
+    if sys.platform == "linux":
+        compile_args += ["-Wno-pointer-sign", "-Wno-unused-variable"]
+
+    extensions = [
+        Extension(
+            "pyModeS.c_common",
+            ["pyModeS/c_common.pyx"],
+            extra_compile_args=compile_args,
+        ),
+        Extension(
+            "pyModeS.decoder.flarm.decode",
+            [
+                "pyModeS/decoder/flarm/decode.pyx",
+                "pyModeS/decoder/flarm/core.c",
+            ],
+            extra_compile_args=compile_args,
+            include_dirs=["pyModeS/decoder/flarm"],
+        ),
+        # Extension(
+        #     "pyModeS.extra.demod2400.core",
+        #     [
+        #         "pyModeS/extra/demod2400/core.pyx",
+        #         "pyModeS/extra/demod2400/demod2400.c",
+        #     ],
+        #     extra_compile_args=compile_args,
+        #     include_dirs=["pyModeS/extra/demod2400"],
+        #     libraries=["m"],
+        # ),
+    ]
+
+    ext_modules = cythonize(
+        extensions,
+        compiler_directives={"binding": True, "language_level": 3},
+    )
+
+    distribution = Distribution({"name": "extended", "ext_modules": ext_modules})
+    distribution.package_dir = "extended"  # type: ignore
+
+    cmd = build_ext.build_ext(distribution)
+    cmd.verbose = True  # type: ignore
+    cmd.ensure_finalized()  # type: ignore
+    cmd.run()
+
+    # Copy built extensions back to the project
+    for output in cmd.get_output_mapping():
+        relative_extension = os.path.relpath(output, cmd.build_lib)
+        shutil.copyfile(output, relative_extension)
+        mode = os.stat(relative_extension).st_mode
+        mode |= (mode & 0o444) >> 2
+        os.chmod(relative_extension, mode)
+
+
+if __name__ == "__main__":
+    build()
--- a/poetry.lock
+++ b/poetry.lock
@ -0,0 +1,881 @@
+# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
+
+[[package]]
+name = "black"
+version = "24.8.0"
+description = "The uncompromising code formatter."
+optional = false
+python-versions = ">=3.8"
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+    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
+    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
+]
+
+[[package]]
+name = "typing-extensions"
+version = "4.12.2"
+description = "Backported and Experimental Type Hints for Python 3.8+"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "typing_extensions-4.12.2-py3-none-any.whl", hash = "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d"},
+    {file = "typing_extensions-4.12.2.tar.gz", hash = "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"},
+]
+
+[[package]]
+name = "urllib3"
+version = "2.2.2"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "urllib3-2.2.2-py3-none-any.whl", hash = "sha256:a448b2f64d686155468037e1ace9f2d2199776e17f0a46610480d311f73e3472"},
+    {file = "urllib3-2.2.2.tar.gz", hash = "sha256:dd505485549a7a552833da5e6063639d0d177c04f23bc3864e41e5dc5f612168"},
+]
+
+[package.extras]
+brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
+h2 = ["h2 (>=4,<5)"]
+socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
+zstd = ["zstandard (>=0.18.0)"]
+
+[extras]
+rtlsdr = ["pyrtlsdr"]
+
+[metadata]
+lock-version = "2.0"
+python-versions = ">=3.9"
+content-hash = "f92c8f8bdcbe5a3351cbe1c026b19b913c9b4502e6ecc3a35b3cbef4d48fee7d"
--- a/pyModeS/.gitignore
+++ b/pyModeS/.gitignore
@ -0,0 +1,3 @@
+decoder/flarm/decode.c
+extra/demod2400/core.c
+c_common.c
--- a/pyModeS/init.py
+++ b/pyModeS/init.py
@ -4,17 +4,31 @@ import warnings
 try:
    from . import c_common as common
    from .c_common import *
-except:
-    from . import common
-    from .common import *
+except Exception:
+    from . import py_common as common  # type: ignore
+    from .py_common import *  # type: ignore

 from .decoder import tell
 from .decoder import adsb
 from .decoder import commb
+from .decoder import allcall
+from .decoder import surv
 from .decoder import bds
 from .extra import aero
 from .extra import tcpclient

+__all__ = [
+    "common",
+    "tell",
+    "adsb",
+    "commb",
+    "allcall",
+    "surv",
+    "bds",
+    "aero",
+    "tcpclient",
+]
+

 warnings.simplefilter("once", DeprecationWarning)

--- a/pyModeS/c_common.pxd
+++ b/pyModeS/c_common.pxd
@ -5,7 +5,8 @@ cdef unsigned char int_to_char(unsigned char i)

 cpdef str hex2bin(str hexstr)
 cpdef long bin2int(str binstr)
-cpdef long hex2int(str binstr)
+cpdef long hex2int(str hexstr)
+cpdef str bin2hex(str binstr)

 cpdef unsigned char df(str msg)
 cpdef long crc(str msg, bint encode=*)
@ -16,8 +17,12 @@ cpdef bint is_icao_assigned(str icao)

 cpdef int typecode(str msg)
 cpdef int cprNL(double lat)
+
 cpdef str idcode(str msg)
+cpdef str squawk(str binstr)
+
 cpdef int altcode(str msg)
+cpdef int altitude(str binstr)

 cpdef str data(str msg)
 cpdef bint allzeros(str msg)
--- a/pyModeS/c_common.pyi
+++ b/pyModeS/c_common.pyi
@ -0,0 +1,18 @@
+def hex2bin(hexstr: str) -> str: ...
+def bin2int(binstr: str) -> int: ...
+def hex2int(hexstr: str) -> int: ...
+def bin2hex(binstr: str) -> str: ...
+def df(msg: str) -> int: ...
+def crc(msg: str, encode: bool = False) -> int: ...
+def floor(x: float) -> float: ...
+def icao(msg: str) -> str: ...
+def is_icao_assigned(icao: str) -> bool: ...
+def typecode(msg: str) -> int: ...
+def cprNL(lat: float) -> int: ...
+def idcode(msg: str) -> str: ...
+def squawk(binstr: str) -> str: ...
+def altcode(msg: str) -> int: ...
+def altitude(binstr: str) -> int: ...
+def data(msg: str) -> str: ...
+def allzeros(msg: str) -> bool: ...
+def wrongstatus(data: str, sb: int, msb: int, lsb: int) -> bool: ...
--- a/pyModeS/c_common.pyx
+++ b/pyModeS/c_common.pyx
@ -25,7 +25,7 @@ cdef unsigned char int_to_char(unsigned char i):
@cython.boundscheck(False)
@cython.overflowcheck(False)
 cpdef str hex2bin(str hexstr):
-    """Convert a hexdecimal string to binary string, with zero fillings."""
+    """Convert a hexadecimal string to binary string, with zero fillings."""
    # num_of_bits = len(hexstr) * 4
    cdef hexbytes = bytes(hexstr.encode())
    cdef Py_ssize_t len_hexstr = PyBytes_GET_SIZE(hexbytes)
@ -66,9 +66,14 @@ cpdef long hex2int(str hexstr):
        cumul = 16*cumul + char_to_int(v_hexstr[i])
    return cumul

+@cython.boundscheck(False)
+cpdef str bin2hex(str binstr):
+    return "{0:X}".format(int(binstr, 2))
+
+
@cython.boundscheck(False)
 cpdef unsigned char df(str msg):
-    """Decode Downlink Format vaule, bits 1 to 5."""
+    """Decode Downlink Format value, bits 1 to 5."""
    cdef str dfbin = hex2bin(msg[:2])
    # return min(bin2int(dfbin[0:5]), 24)
    cdef long df = bin2int(dfbin[0:5])
@ -155,17 +160,7 @@ cpdef long floor(double x):
    return <long> c_floor(x)

 cpdef str icao(str msg):
-    """Calculate the ICAO address from an Mode-S message.
-
-    Applicable only with DF4, DF5, DF20, DF21 messages.
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        String: ICAO address in 6 bytes hexadecimal string
-
-    """
+    """Calculate the ICAO address from an Mode-S message."""
    cdef unsigned char DF = df(msg)
    cdef long c0, c1

@ -212,14 +207,7 @@ cpdef bint is_icao_assigned(str icao):
@cython.boundscheck(False)
@cython.wraparound(False)
 cpdef int typecode(str msg):
-    """Type code of ADS-B message
-
-    Args:
-        msg (string): 28 bytes hexadecimal message string
-
-    Returns:
-        int: type code number
-    """
+    """Type code of ADS-B message"""
    if df(msg) not in (17, 18):
        return -1
        # return None
@ -240,7 +228,7 @@ cpdef int cprNL(double lat):

    cdef int nz = 15
    cdef double a = 1 - cos(pi / (2 * nz))
-    cdef double b = cos(pi / 180.0 * fabs(lat)) ** 2
+    cdef double b = cos(pi / 180 * fabs(lat)) ** 2
    cdef double nl = 2 * pi / (acos(1 - a / b))
    NL = floor(nl)
    return NL
@ -248,45 +236,41 @@ cpdef int cprNL(double lat):
@cython.boundscheck(False)
@cython.wraparound(False)
 cpdef str idcode(str msg):
-    """Compute identity (squawk code).
-
-    Applicable only for DF5 or DF21 messages, bit 20-32.
-    credit: @fbyrkjeland
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        string: squawk code
-
-    """
+    """Compute identity (squawk code)."""
    if df(msg) not in [5, 21]:
        raise RuntimeError("Message must be Downlink Format 5 or 21.")

-    cdef bytearray _mbin = bytearray(hex2bin(msg).encode())
+    squawk_code = squawk(hex2bin(msg)[19:32])
+    return squawk_code
+
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef str squawk(str binstr):
+    """Compute identity (squawk code)."""
+
+    if len(binstr) != 13 or set(binstr) != set('01'):
+        raise RuntimeError("Input must be 13 bits binary string")
+
+    cdef bytearray _mbin = bytearray(binstr.encode())
    cdef unsigned char[:] mbin = _mbin

    cdef bytearray _idcode = bytearray(4)
    cdef unsigned char[:] idcode = _idcode

-    cdef unsigned char C1 = mbin[19]
-    cdef unsigned char A1 = mbin[20]
-    cdef unsigned char C2 = mbin[21]
-    cdef unsigned char A2 = mbin[22]
-    cdef unsigned char C4 = mbin[23]
-    cdef unsigned char A4 = mbin[24]
-    # _ = mbin[25]
-    cdef unsigned char B1 = mbin[26]
-    cdef unsigned char D1 = mbin[27]
-    cdef unsigned char B2 = mbin[28]
-    cdef unsigned char D2 = mbin[29]
-    cdef unsigned char B4 = mbin[30]
-    cdef unsigned char D4 = mbin[31]
-
-    # byte1 = int(A4 + A2 + A1, 2)
-    # byte2 = int(B4 + B2 + B1, 2)
-    # byte3 = int(C4 + C2 + C1, 2)
-    # byte4 = int(D4 + D2 + D1, 2)
+    cdef unsigned char C1 = mbin[0]
+    cdef unsigned char A1 = mbin[1]
+    cdef unsigned char C2 = mbin[2]
+    cdef unsigned char A2 = mbin[3]
+    cdef unsigned char C4 = mbin[4]
+    cdef unsigned char A4 = mbin[5]
+    # X = mbin[6]
+    cdef unsigned char B1 = mbin[7]
+    cdef unsigned char D1 = mbin[8]
+    cdef unsigned char B2 = mbin[9]
+    cdef unsigned char D2 = mbin[10]
+    cdef unsigned char B4 = mbin[11]
+    cdef unsigned char D4 = mbin[12]

    idcode[0] = int_to_char((char_to_int(A4)*2 + char_to_int(A2))*2 + char_to_int(A1))
    idcode[1] = int_to_char((char_to_int(B4)*2 + char_to_int(B2))*2 + char_to_int(B1))
@ -295,68 +279,68 @@ cpdef str idcode(str msg):

    return _idcode.decode()

-    #return str(byte1) + str(byte2) + str(byte3) + str(byte4)
-

@cython.boundscheck(False)
@cython.wraparound(False)
 cpdef int altcode(str msg):
-    """Compute the altitude.
-
-    Applicable only for DF4 or DF20 message, bit 20-32.
-    credit: @fbyrkjeland
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        int: altitude in ft
-
-    """
+    """Compute the altitude."""
    if df(msg) not in [0, 4, 16, 20]:
        raise RuntimeError("Message must be Downlink Format 0, 4, 16, or 20.")

-    # Altitude code, bit 20-32
-    cdef bytearray _mbin = bytearray(hex2bin(msg).encode())
+    alt = altitude(hex2bin(msg)[19:32])
+    return alt
+
+
+@cython.boundscheck(False)
+@cython.wraparound(False)
+cpdef int altitude(str binstr):
+
+    if len(binstr) != 13 or not set(binstr).issubset(set("01")):
+        raise RuntimeError("Input must be 13 bits binary string")
+
+    cdef bytearray _mbin = bytearray(binstr.encode())
    cdef unsigned char[:] mbin = _mbin

-    cdef char mbit = mbin[25]  # M bit: 26
-    cdef char qbit = mbin[27]  # Q bit: 28
+    cdef char Mbit = binstr[6]
+    cdef char Qbit = binstr[8]
+
    cdef int alt = 0
    cdef bytearray vbin
    cdef bytearray _graybytes = bytearray(11)
    cdef unsigned char[:] graybytes = _graybytes

-    if mbit == 48:  # unit in ft, "0" -> 48
-        if qbit == 49:  # 25ft interval, "1" -> 49
-            vbin = _mbin[19:25] + _mbin[26:27] + _mbin[28:32]
+    if bin2int(binstr) == 0:
+        # altitude unknown or invalid
+        alt = -999999
+
+    elif Mbit == 48:  # unit in ft, "0" -> 48
+        if Qbit == 49:  # 25ft interval, "1" -> 49
+            vbin = _mbin[:6] + _mbin[7:8] + _mbin[9:]
            alt = bin2int(vbin.decode()) * 25 - 1000
-        if qbit == 48:  # 100ft interval, above 50175ft, "0" -> 48
-            graybytes[8] = mbin[19]
-            graybytes[2] = mbin[20]
-            graybytes[9] = mbin[21]
-            graybytes[3] = mbin[22]
-            graybytes[10] = mbin[23]
-            graybytes[4] = mbin[24]
-            # _ = mbin[25]
-            graybytes[5] = mbin[26]
-            # cdef char D1 = mbin[27]  # always zero
-            graybytes[6] = mbin[28]
-            graybytes[0] = mbin[29]
-            graybytes[7] = mbin[30]
-            graybytes[1] = mbin[31]
-            # graybytes = D2 + D4 + A1 + A2 + A4 + B1 + B2 + B4 + C1 + C2 + C4
+        if Qbit == 48:  # 100ft interval, above 50175ft, "0" -> 48
+            graybytes[8] = mbin[0]
+            graybytes[2] = mbin[1]
+            graybytes[9] = mbin[2]
+            graybytes[3] = mbin[3]
+            graybytes[10] = mbin[4]
+            graybytes[4] = mbin[5]
+            # M = mbin[6]
+            graybytes[5] = mbin[7]
+            # Q = mbin[8]
+            graybytes[6] = mbin[9]
+            graybytes[0] = mbin[10]
+            graybytes[7] = mbin[11]
+            graybytes[1] = mbin[12]

            alt = gray2alt(_graybytes.decode())

-    if mbit == 49:  # unit in meter, "1" -> 49
-        vbin = _mbin[19:25] + _mbin[26:31]
+    elif Mbit == 49:  # unit in meter, "1" -> 49
+        vbin = _mbin[:6] + _mbin[7:]
        alt = int(bin2int(vbin.decode()) * 3.28084)  # convert to ft

    return alt


-
 cpdef int gray2alt(str codestr):
    cdef str gc500 = codestr[:8]
    cdef int n500 = gray2int(gc500)
@ -395,15 +379,7 @@ cpdef str data(str msg):


 cpdef bint allzeros(str msg):
-    """Check if the data bits are all zeros.
-
-    Args:
-        msg (String): 28 bytes hexadecimal message string
-
-    Returns:
-        bool: True or False
-
-    """
+    """Check if the data bits are all zeros."""
    d = hex2bin(data(msg))

    if bin2int(d) > 0:
--- a/pyModeS/common.pyi
+++ b/pyModeS/common.pyi
@ -0,0 +1,22 @@
+from typing import Optional
+
+def hex2bin(hexstr: str) -> str: ...
+def bin2int(binstr: str) -> int: ...
+def hex2int(hexstr: str) -> int: ...
+def bin2hex(binstr: str) -> str: ...
+def df(msg: str) -> int: ...
+def crc(msg: str, encode: bool = False) -> int: ...
+def floor(x: float) -> float: ...
+def icao(msg: str) -> Optional[str]: ...
+def is_icao_assigned(icao: str) -> bool: ...
+def typecode(msg: str) -> Optional[int]: ...
+def cprNL(lat: float) -> int: ...
+def idcode(msg: str) -> str: ...
+def squawk(binstr: str) -> str: ...
+def altcode(msg: str) -> Optional[int]: ...
+def altitude(binstr: str) -> Optional[int]: ...
+def gray2alt(binstr: str) -> Optional[int]: ...
+def gray2int(binstr: str) -> int: ...
+def data(msg: str) -> str: ...
+def allzeros(msg: str) -> bool: ...
+def wrongstatus(data: str, sb: int, msb: int, lsb: int) -> bool: ...
--- a/pyModeS/decoder/init.py
+++ b/pyModeS/decoder/init.py
@ -1,8 +1,8 @@
-def tell(msg):
-    from pyModeS import common, adsb, commb, bds
+def tell(msg: str) -> None:
+    from .. import common, adsb, commb, bds

    def _print(label, value, unit=None):
-        print("%20s: " % label, end="")
+        print("%28s: " % label, end="")
        print("%s " % value, end="")
        if unit:
            print(unit)
@ -20,9 +20,14 @@ def tell(msg):
        _print("Protocol", "Mode-S Extended Squitter (ADS-B)")

        tc = common.typecode(msg)
+
+        if tc is None:
+            _print("ERROR", "Unknown typecode")
+            return
+
        if 1 <= tc <= 4:  # callsign
            callsign = adsb.callsign(msg)
-            _print("Type", "Identitification and category")
+            _print("Type", "Identification and category")
            _print("Callsign:", callsign)

        if 5 <= tc <= 8:  # surface position
@ -52,12 +57,14 @@ def tell(msg):

        if tc == 19:
            _print("Type", "Airborne velocity")
-            spd, trk, vr, t = adsb.velocity(msg)
-            types = {"GS": "Ground speed", "TAS": "True airspeed"}
-            _print("Speed", spd, "knots")
-            _print("Track", trk, "degrees")
-            _print("Vertical rate", vr, "feet/minute")
-            _print("Type", types[t])
+            velocity = adsb.velocity(msg)
+            if velocity is not None:
+                spd, trk, vr, t = velocity
+                types = {"GS": "Ground speed", "TAS": "True airspeed"}
+                _print("Speed", spd, "knots")
+                _print("Track", trk, "degrees")
+                _print("Vertical rate", vr, "feet/minute")
+                _print("Type", types[t])

        if 20 <= tc <= 22:  # airborne position
            _print("Type", "Airborne position (with GNSS altitude)")
@ -71,6 +78,94 @@ def tell(msg):
            _print("CPR Longitude", cprlon)
            _print("Altitude", alt, "feet")

+        if tc == 29:  # target state and status
+            _print("Type", "Target State and Status")
+            subtype = common.bin2int((common.hex2bin(msg)[32:])[5:7])
+            _print("Subtype", subtype)
+            tcas_operational = adsb.tcas_operational(msg)
+            types_29 = {0: "Not Engaged", 1: "Engaged"}
+            tcas_operational_types = {0: "Not Operational", 1: "Operational"}
+            if subtype == 0:
+                emergency_types = {
+                    0: "No emergency",
+                    1: "General emergency",
+                    2: "Lifeguard/medical emergency",
+                    3: "Minimum fuel",
+                    4: "No communications",
+                    5: "Unlawful interference",
+                    6: "Downed aircraft",
+                    7: "Reserved",
+                }
+                vertical_horizontal_types = {
+                    1: "Acquiring mode",
+                    2: "Capturing/Maintaining mode",
+                }
+                tcas_ra_types = {0: "Not active", 1: "Active"}
+                alt, alt_source, alt_ref = adsb.target_altitude(msg)
+                angle, angle_type, angle_source = adsb.target_angle(msg)
+                vertical_mode = adsb.vertical_mode(msg)
+                horizontal_mode = adsb.horizontal_mode(msg)
+                tcas_ra = adsb.tcas_ra(msg)
+                emergency_status = adsb.emergency_status(msg)
+                _print("Target altitude", alt, "feet")
+                _print("Altitude source", alt_source)
+                _print("Altitude reference", alt_ref)
+                _print("Angle", angle, "°")
+                _print("Angle Type", angle_type)
+                _print("Angle Source", angle_source)
+                if vertical_mode is not None:
+                    _print(
+                        "Vertical mode",
+                        vertical_horizontal_types[vertical_mode],
+                    )
+                if horizontal_mode is not None:
+                    _print(
+                        "Horizontal mode",
+                        vertical_horizontal_types[horizontal_mode],
+                    )
+                _print(
+                    "TCAS/ACAS",
+                    tcas_operational_types[tcas_operational]
+                    if tcas_operational
+                    else None,
+                )
+                _print("TCAS/ACAS RA", tcas_ra_types[tcas_ra])
+                _print("Emergency status", emergency_types[emergency_status])
+            else:
+                alt, alt_source = adsb.selected_altitude(msg)  # type: ignore
+                baro = adsb.baro_pressure_setting(msg)
+                hdg = adsb.selected_heading(msg)
+                autopilot = adsb.autopilot(msg)
+                vnav = adsb.vnav_mode(msg)
+                alt_hold = adsb.altitude_hold_mode(msg)
+                app = adsb.approach_mode(msg)
+                lnav = adsb.lnav_mode(msg)
+                _print("Selected altitude", alt, "feet")
+                _print("Altitude source", alt_source)
+                _print(
+                    "Barometric pressure setting",
+                    baro,
+                    "" if baro is None else "millibars",
+                )
+                _print("Selected Heading", hdg, "°")
+                if not (common.bin2int((common.hex2bin(msg)[32:])[46]) == 0):
+                    _print(
+                        "Autopilot", types_29[autopilot] if autopilot else None
+                    )
+                    _print("VNAV mode", types_29[vnav] if vnav else None)
+                    _print(
+                        "Altitude hold mode",
+                        types_29[alt_hold] if alt_hold else None,
+                    )
+                    _print("Approach mode", types_29[app] if app else None)
+                    _print(
+                        "TCAS/ACAS",
+                        tcas_operational_types[tcas_operational]
+                        if tcas_operational
+                        else None,
+                    )
+                    _print("LNAV mode", types_29[lnav] if lnav else None)
+
    if df == 20:
        _print("Protocol", "Mode-S Comm-B altitude reply")
        _print("Altitude", common.altcode(msg), "feet")
@ -94,7 +189,7 @@ def tell(msg):
        }

        BDS = bds.infer(msg, mrar=True)
-        if BDS in labels.keys():
+        if BDS is not None and BDS in labels.keys():
            _print("BDS", "%s (%s)" % (BDS, labels[BDS]))
        else:
            _print("BDS", BDS)
@ -116,7 +211,7 @@ def tell(msg):
            _print("True airspeed", commb.tas50(msg), "knots")

        if BDS == "BDS60":
-            _print("Megnatic Heading", commb.hdg60(msg), "degrees")
+            _print("Magnetic Heading", commb.hdg60(msg), "degrees")
            _print("Indicated airspeed", commb.ias60(msg), "knots")
            _print("Mach number", commb.mach60(msg))
            _print("Vertical rate (Baro)", commb.vr60baro(msg), "feet/minute")
--- a/pyModeS/decoder/adsb.py
+++ b/pyModeS/decoder/adsb.py
@ -2,47 +2,121 @@

 The ADS-B module also imports functions from the following modules:

- pyModeS.decoder.bds.bds05: ``airborne_position()``, ``airborne_position_with_ref()``, ``altitude()``
- pyModeS.decoder.bds.bds06: ``surface_position()``, ``surface_position_with_ref()``, ``surface_velocity()``
- pyModeS.decoder.bds.bds08: ``category()``, ``callsign()``
- pyModeS.decoder.bds.bds09: ``airborne_velocity()``, ``altitude_diff()``
+- bds05: ``airborne_position()``, ``airborne_position_with_ref()``,
+  ``altitude()``
+- bds06: ``surface_position()``, ``surface_position_with_ref()``,
+  ``surface_velocity()``
+- bds08: ``category()``, ``callsign()``
+- bds09: ``airborne_velocity()``, ``altitude_diff()``

 """

-import pyModeS as pms
+from __future__ import annotations

-from pyModeS import common
+from datetime import datetime

-from pyModeS.decoder import uncertainty
-
-# from pyModeS.decoder.bds import bds05, bds06, bds09
-from pyModeS.decoder.bds.bds05 import (
-    airborne_position,
-    airborne_position_with_ref,
-    altitude as altitude05,
-)
-from pyModeS.decoder.bds.bds06 import (
+from .. import common
+from . import uncertainty
+from .bds.bds05 import airborne_position, airborne_position_with_ref
+from .bds.bds05 import altitude as altitude05
+from .bds.bds06 import (
    surface_position,
    surface_position_with_ref,
    surface_velocity,
 )
-from pyModeS.decoder.bds.bds08 import category, callsign
-from pyModeS.decoder.bds.bds09 import airborne_velocity, altitude_diff
+from .bds.bds08 import callsign, category
+from .bds.bds09 import airborne_velocity, altitude_diff
+from .bds.bds61 import emergency_squawk, emergency_state, is_emergency
+from .bds.bds62 import (
+    altitude_hold_mode,
+    approach_mode,
+    autopilot,
+    baro_pressure_setting,
+    emergency_status,
+    horizontal_mode,
+    lnav_mode,
+    selected_altitude,
+    selected_heading,
+    target_altitude,
+    target_angle,
+    tcas_operational,
+    tcas_ra,
+    vertical_mode,
+    vnav_mode,
+)
+
+__all__ = [
+    "airborne_position",
+    "airborne_position_with_ref",
+    "altitude05",
+    "surface_position",
+    "surface_position_with_ref",
+    "surface_velocity",
+    "callsign",
+    "category",
+    "airborne_velocity",
+    "altitude_diff",
+    "emergency_squawk",
+    "emergency_state",
+    "is_emergency",
+    "df",
+    "icao",
+    "typecode",
+    "position",
+    "position_with_ref",
+    "altitude",
+    "velocity",
+    "speed_heading",
+    "oe_flag",
+    "version",
+    "nuc_p",
+    "nuc_v",
+    "nic_v1",
+    "nic_v2",
+    "nic_s",
+    "nic_a_c",
+    "nic_b",
+    "nac_p",
+    "nac_v",
+    "sil",
+    "selected_altitude",
+    "target_altitude",
+    "vertical_mode",
+    "horizontal_mode",
+    "selected_heading",
+    "target_angle",
+    "baro_pressure_setting",
+    "autopilot",
+    "vnav_mode",
+    "altitude_hold_mode",
+    "approach_mode",
+    "lnav_mode",
+    "tcas_operational",
+    "tcas_ra",
+    "emergency_status",
+]


-def df(msg):
+def df(msg: str) -> int:
    return common.df(msg)


-def icao(msg):
+def icao(msg: str) -> None | str:
    return common.icao(msg)


-def typecode(msg):
+def typecode(msg: str) -> None | int:
    return common.typecode(msg)


-def position(msg0, msg1, t0, t1, lat_ref=None, lon_ref=None):
+def position(
+    msg0: str,
+    msg1: str,
+    t0: int | datetime,
+    t1: int | datetime,
+    lat_ref: None | float = None,
+    lon_ref: None | float = None,
+) -> None | tuple[float, float]:
    """Decode surface or airborne position from a pair of even and odd
    position messages.

@ -64,6 +138,9 @@ def position(msg0, msg1, t0, t1, lat_ref=None, lon_ref=None):
    tc0 = typecode(msg0)
    tc1 = typecode(msg1)

+    if tc0 is None or tc1 is None:
+        raise RuntimeError("Incorrect or inconsistent message types")
+
    if 5 <= tc0 <= 8 and 5 <= tc1 <= 8:
        if lat_ref is None or lon_ref is None:
            raise RuntimeError(
@ -85,13 +162,13 @@ def position(msg0, msg1, t0, t1, lat_ref=None, lon_ref=None):
        raise RuntimeError("Incorrect or inconsistent message types")


-def position_with_ref(msg, lat_ref, lon_ref):
+def position_with_ref(msg: str, lat_ref: float, lon_ref: float) -> tuple[float, float]:
    """Decode position with only one message.

    A reference position is required, which can be previously
    calculated location, ground station, or airport location.
    The function works with both airborne and surface position messages.
-    The reference position shall be with in 180NM (airborne) or 45NM (surface)
+    The reference position shall be within 180NM (airborne) or 45NM (surface)
    of the true position.

    Args:
@ -105,6 +182,9 @@ def position_with_ref(msg, lat_ref, lon_ref):

    tc = typecode(msg)

+    if tc is None:
+        raise RuntimeError("incorrect or inconsistent message types")
+
    if 5 <= tc <= 8:
        return surface_position_with_ref(msg, lat_ref, lon_ref)

@ -115,7 +195,7 @@ def position_with_ref(msg, lat_ref, lon_ref):
        raise RuntimeError("incorrect or inconsistent message types")


-def altitude(msg):
+def altitude(msg: str) -> None | float:
    """Decode aircraft altitude.

    Args:
@ -127,7 +207,7 @@ def altitude(msg):
    """
    tc = typecode(msg)

-    if tc < 5 or tc == 19 or tc > 22:
+    if tc is None or tc < 5 or tc == 19 or tc > 22:
        raise RuntimeError("%s: Not a position message" % msg)

    elif tc >= 5 and tc <= 8:
@ -139,39 +219,47 @@ def altitude(msg):
        return altitude05(msg)


-def velocity(msg, source=False):
-    """Calculate the speed, heading, and vertical rate (handles both airborne or surface message).
+def velocity(
+    msg: str, source: bool = False
+) -> None | tuple[None | float, None | float, None | int, str]:
+    """Calculate the speed, heading, and vertical rate
+       (handles both airborne or surface message).

    Args:
        msg (str): 28 hexdigits string
-        source (boolean): Include direction and vertical rate sources in return. Default to False.
+        source (boolean): Include direction and vertical rate sources in return.
+            Default to False.
            If set to True, the function will return six value instead of four.

    Returns:
-        int, float, int, string, [string], [string]: Four or six parameters, including:
+        int, float, int, string, [string], [string]:
            - Speed (kt)
            - Angle (degree), either ground track or heading
            - Vertical rate (ft/min)
            - Speed type ('GS' for ground speed, 'AS' for airspeed)
-            - [Optional] Direction source ('TRUE_NORTH' or 'MAGENTIC_NORTH')
+            - [Optional] Direction source ('TRUE_NORTH' or 'MAGNETIC_NORTH')
            - [Optional] Vertical rate source ('BARO' or 'GNSS')

-        For surface messages, vertical rate and its respective sources are set to None.
+        For surface messages, vertical rate and its respective sources are set
+        to None.

    """
-    if 5 <= typecode(msg) <= 8:
+    tc = typecode(msg)
+    error = "incorrect or inconsistent message types, expecting 4<TC<9 or TC=19"
+    if tc is None:
+        raise RuntimeError(error)
+
+    if 5 <= tc <= 8:
        return surface_velocity(msg, source)

-    elif typecode(msg) == 19:
+    elif tc == 19:
        return airborne_velocity(msg, source)

    else:
-        raise RuntimeError(
-            "incorrect or inconsistent message types, expecting 4<TC<9 or TC=19"
-        )
+        raise RuntimeError(error)


-def speed_heading(msg):
+def speed_heading(msg: str) -> None | tuple[None | float, None | float]:
    """Get speed and ground track (or heading) from the velocity message
    (handles both airborne or surface message)

@ -181,11 +269,14 @@ def speed_heading(msg):
    Returns:
        (int, float): speed (kt), ground track or heading (degree)
    """
-    spd, trk_or_hdg, rocd, tag = velocity(msg)
+    decoded = velocity(msg)
+    if decoded is None:
+        return None
+    spd, trk_or_hdg, rocd, tag = decoded
    return spd, trk_or_hdg


-def oe_flag(msg):
+def oe_flag(msg: str) -> int:
    """Check the odd/even flag. Bit 54, 0 for even, 1 for odd.
    Args:
        msg (str): 28 hexdigits string
@ -196,7 +287,7 @@ def oe_flag(msg):
    return int(msgbin[53])


-def version(msg):
+def version(msg: str) -> int:
    """ADS-B Version

    Args:
@ -218,13 +309,15 @@ def version(msg):
    return version


-def nuc_p(msg):
-    """Calculate NUCp, Navigation Uncertainty Category - Position (ADS-B version 1)
+def nuc_p(msg: str) -> tuple[int, None | float, None | int, None | int]:
+    """Calculate NUCp, Navigation Uncertainty Category - Position
+    (ADS-B version 1)

    Args:
        msg (str): 28 hexdigits string,

    Returns:
+        int: NUCp, Navigation Uncertainty Category (position)
        int: Horizontal Protection Limit
        int: 95% Containment Radius - Horizontal (meters)
        int: 95% Containment Radius - Vertical (meters)
@ -232,7 +325,7 @@ def nuc_p(msg):
    """
    tc = typecode(msg)

-    if typecode(msg) < 5 or typecode(msg) > 22:
+    if tc is None or tc < 5 or tc is None or tc > 22:
        raise RuntimeError(
            "%s: Not a surface position message (5<TC<8), \
            airborne position message (8<TC<19), \
@ -240,27 +333,36 @@ def nuc_p(msg):
            % msg
        )

-    try:
-        NUCp = uncertainty.TC_NUCp_lookup[tc]
-        HPL = uncertainty.NUCp[NUCp]["HPL"]
-        RCu = uncertainty.NUCp[NUCp]["RCu"]
-        RCv = uncertainty.NUCp[NUCp]["RCv"]
-    except KeyError:
+    NUCp = uncertainty.TC_NUCp_lookup[tc]
+    index = uncertainty.NUCp.get(NUCp, None)
+
+    if index is not None:
+        HPL = index["HPL"]
+        RCu = index["RCu"]
+        RCv = index["RCv"]
+    else:
        HPL, RCu, RCv = uncertainty.NA, uncertainty.NA, uncertainty.NA

-    if tc in [20, 21]:
-        RCv = uncertainty.NA
+    RCv = uncertainty.NA

-    return HPL, RCu, RCv
+    # RCv only available for GNSS height
+    if tc == 20:
+        RCv = 4
+    elif tc == 21:
+        RCv = 15
+
+    return NUCp, HPL, RCu, RCv


-def nuc_v(msg):
-    """Calculate NUCv, Navigation Uncertainty Category - Velocity (ADS-B version 1)
+def nuc_v(msg: str) -> tuple[int, None | float, None | float]:
+    """Calculate NUCv, Navigation Uncertainty Category - Velocity
+    (ADS-B version 1)

    Args:
        msg (str): 28 hexdigits string,

    Returns:
+        int: NUCv, Navigation Uncertainty Category (velocity)
        int or string: 95% Horizontal Velocity Error
        int or string: 95% Vertical Velocity Error
    """
@ -273,17 +375,18 @@ def nuc_v(msg):

    msgbin = common.hex2bin(msg)
    NUCv = common.bin2int(msgbin[42:45])
+    index = uncertainty.NUCv.get(NUCv, None)

-    try:
-        HVE = uncertainty.NUCv[NUCv]["HVE"]
-        VVE = uncertainty.NUCv[NUCv]["VVE"]
-    except KeyError:
+    if index is not None:
+        HVE = index["HVE"]
+        VVE = index["VVE"]
+    else:
        HVE, VVE = uncertainty.NA, uncertainty.NA

-    return HVE, VVE
+    return NUCv, HVE, VVE


-def nic_v1(msg, NICs):
+def nic_v1(msg: str, NICs: int) -> tuple[int, None | float, None | float]:
    """Calculate NIC, navigation integrity category, for ADS-B version 1

    Args:
@ -291,10 +394,12 @@ def nic_v1(msg, NICs):
        NICs (int or string): NIC supplement

    Returns:
+        int: NIC, Navigation Integrity Category
        int or string: Horizontal Radius of Containment
        int or string: Vertical Protection Limit
    """
-    if typecode(msg) < 5 or typecode(msg) > 22:
+    tc = typecode(msg)
+    if tc is None or tc < 5 or tc > 22:
        raise RuntimeError(
            "%s: Not a surface position message (5<TC<8), \
            airborne position message (8<TC<19), \
@ -302,33 +407,37 @@ def nic_v1(msg, NICs):
            % msg
        )

-    tc = typecode(msg)
    NIC = uncertainty.TC_NICv1_lookup[tc]

    if isinstance(NIC, dict):
        NIC = NIC[NICs]

-    try:
-        Rc = uncertainty.NICv1[NIC][NICs]["Rc"]
-        VPL = uncertainty.NICv1[NIC][NICs]["VPL"]
-    except KeyError:
-        Rc, VPL = uncertainty.NA, uncertainty.NA
+    d_index = uncertainty.NICv1.get(NIC, None)
+    Rc, VPL = uncertainty.NA, uncertainty.NA

-    return Rc, VPL
+    if d_index is not None:
+        index = d_index.get(NICs, None)
+        if index is not None:
+            Rc = index["Rc"]
+            VPL = index["VPL"]
+
+    return NIC, Rc, VPL


-def nic_v2(msg, NICa, NICbc):
+def nic_v2(msg: str, NICa: int, NICbc: int) -> tuple[int | None, int | None]:
    """Calculate NIC, navigation integrity category, for ADS-B version 2

    Args:
        msg (str): 28 hexdigits string
        NICa (int or string): NIC supplement - A
-        NICbc (int or srting): NIC supplement - B or C
+        NICbc (int or string): NIC supplement - B or C

    Returns:
+        int: NIC, Navigation Integrity Category
        int or string: Horizontal Radius of Containment
    """
-    if typecode(msg) < 5 or typecode(msg) > 22:
+    tc = typecode(msg)
+    if tc is None or tc < 5 or tc > 22:
        raise RuntimeError(
            "%s: Not a surface position message (5<TC<8), \
            airborne position message (8<TC<19), \
@ -336,7 +445,6 @@ def nic_v2(msg, NICa, NICbc):
            % msg
        )

-    tc = typecode(msg)
    NIC = uncertainty.TC_NICv2_lookup[tc]

    if 20 <= tc <= 22:
@ -347,15 +455,14 @@ def nic_v2(msg, NICa, NICbc):
    try:
        if isinstance(NIC, dict):
            NIC = NIC[NICs]
-
        Rc = uncertainty.NICv2[NIC][NICs]["Rc"]
    except KeyError:
-        Rc = uncertainty.NA
+        return None, None

-    return Rc
+    return NIC, Rc  # type: ignore


-def nic_s(msg):
+def nic_s(msg: str) -> int:
    """Obtain NIC supplement bit, TC=31 message

    Args:
@ -377,7 +484,7 @@ def nic_s(msg):
    return nic_s


-def nic_a_c(msg):
+def nic_a_c(msg: str) -> tuple[int, int]:
    """Obtain NICa/c, navigation integrity category supplements a and c

    Args:
@ -400,7 +507,7 @@ def nic_a_c(msg):
    return nic_a, nic_c


-def nic_b(msg):
+def nic_b(msg: str) -> int:
    """Obtain NICb, navigation integrity category supplement-b

    Args:
@ -411,7 +518,7 @@ def nic_b(msg):
    """
    tc = typecode(msg)

-    if tc < 9 or tc > 18:
+    if tc is None or tc < 9 or tc > 18:
        raise RuntimeError(
            "%s: Not a airborne position message, expecting 8<TC<19" % msg
        )
@ -422,15 +529,18 @@ def nic_b(msg):
    return nic_b


-def nac_p(msg):
+def nac_p(msg: str) -> tuple[int, int | None, int | None]:
    """Calculate NACp, Navigation Accuracy Category - Position

    Args:
        msg (str): 28 hexdigits string, TC = 29 or 31

    Returns:
-        int or string: 95% horizontal accuracy bounds, Estimated Position Uncertainty
-        int or string: 95% vertical accuracy bounds, Vertical Estimated Position Uncertainty
+        int: NACp, Navigation Accuracy Category (position)
+        int or string: 95% horizontal accuracy bounds,
+            Estimated Position Uncertainty
+        int or string: 95% vertical accuracy bounds,
+            Vertical Estimated Position Uncertainty
    """
    tc = typecode(msg)

@ -454,18 +564,21 @@ def nac_p(msg):
    except KeyError:
        EPU, VEPU = uncertainty.NA, uncertainty.NA

-    return EPU, VEPU
+    return NACp, EPU, VEPU


-def nac_v(msg):
+def nac_v(msg: str) -> tuple[int, float | None, float | None]:
    """Calculate NACv, Navigation Accuracy Category - Velocity

    Args:
        msg (str): 28 hexdigits string, TC = 19

    Returns:
-        int or string: 95% horizontal accuracy bounds for velocity, Horizontal Figure of Merit
-        int or string: 95% vertical accuracy bounds for velocity, Vertical Figure of Merit
+        int: NACv, Navigation Accuracy Category (velocity)
+        int or string: 95% horizontal accuracy bounds for velocity,
+            Horizontal Figure of Merit
+        int or string: 95% vertical accuracy bounds for velocity,
+            Vertical Figure of Merit
    """
    tc = typecode(msg)

@ -483,18 +596,23 @@ def nac_v(msg):
    except KeyError:
        HFOMr, VFOMr = uncertainty.NA, uncertainty.NA

-    return HFOMr, VFOMr
+    return NACv, HFOMr, VFOMr


-def sil(msg, version):
+def sil(
+    msg: str,
+    version: None | int,
+) -> tuple[float | None, float | None, str]:
    """Calculate SIL, Surveillance Integrity Level

    Args:
        msg (str): 28 hexdigits string with TC = 29, 31

    Returns:
-        int or string: Probability of exceeding Horizontal Radius of Containment RCu
-        int or string: Probability of exceeding Vertical Integrity Containment Region VPL
+        int or string:
+            Probability of exceeding Horizontal Radius of Containment RCu
+        int or string:
+            Probability of exceeding Vertical Integrity Containment Region VPL
        string: SIL supplement based on per "hour" or "sample", or 'unknown'
    """
    tc = typecode(msg)
--- a/pyModeS/decoder/allcall.py
+++ b/pyModeS/decoder/allcall.py
@ -1,5 +1,98 @@
 """
-Decoding all call replies DF=11
+Decode all-call reply messages, with downlink format 11
+"""

-[To be implemented]
-"""
+
+from __future__ import annotations
+from typing import Callable, TypeVar
+
+from .. import common
+
+T = TypeVar("T")
+F = Callable[[str], T]
+
+
+def _checkdf(func: F[T]) -> F[T]:
+
+    """Ensure downlink format is 11."""
+
+    def wrapper(msg: str) -> T:
+        df = common.df(msg)
+        if df != 11:
+            raise RuntimeError(
+                "Incorrect downlink format, expect 11, got {}".format(df)
+            )
+        return func(msg)
+
+    return wrapper
+
+
+@_checkdf
+def icao(msg: str) -> None | str:
+    """Decode transponder code (ICAO address).
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        string: ICAO address
+
+    """
+    return common.icao(msg)
+
+
+@_checkdf
+def interrogator(msg: str) -> str:
+    """Decode interrogator identifier code.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int: interrogator identifier code
+
+    """
+    # the CRC remainder contains the CL and IC field.
+    # the top three bits are CL field and last four bits are IC field.
+    remainder = common.crc(msg)
+    if remainder > 79:
+        IC = "corrupt IC"
+    elif remainder < 16:
+        IC = "II" + str(remainder)
+    else:
+        IC = "SI" + str(remainder - 16)
+    return IC
+
+
+@_checkdf
+def capability(msg: str) -> tuple[int, None | str]:
+    """Decode transponder capability.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: transponder capability, description
+
+    """
+    msgbin = common.hex2bin(msg)
+    ca = common.bin2int(msgbin[5:8])
+
+    if ca == 0:
+        text = "level 1 transponder"
+    elif ca == 4:
+        text = "level 2 transponder, ability to set CA to 7, on ground"
+    elif ca == 5:
+        text = "level 2 transponder, ability to set CA to 7, airborne"
+    elif ca == 6:
+        text = (
+            "evel 2 transponder, ability to set CA to 7, "
+            "either airborne or ground"
+        )
+    elif ca == 7:
+        text = (
+            "Downlink Request value is not 0, "
+            "or the Flight Status is 2, 3, 4 or 5, "
+            "and either airborne or on the ground"
+        )
+    else:
+        text = None
+
+    return ca, text
--- a/pyModeS/decoder/bds/init.py
+++ b/pyModeS/decoder/bds/init.py
@ -18,16 +18,13 @@
 Common functions for Mode-S decoding
 """

+from typing import Optional
+
 import numpy as np

-from pyModeS.extra import aero
-from pyModeS import common
-
-from pyModeS.decoder.bds import (
-    bds05,
-    bds06,
-    bds08,
-    bds09,
+from ... import common
+from ...extra import aero
+from . import (  # noqa: F401
    bds10,
    bds17,
    bds20,
@ -36,12 +33,15 @@ from pyModeS.decoder.bds import (
    bds44,
    bds45,
    bds50,
-    bds53,
    bds60,
+    bds61,
+    bds62,
 )


-def is50or60(msg, spd_ref, trk_ref, alt_ref):
+def is50or60(
+    msg: str, spd_ref: float, trk_ref: float, alt_ref: float
+) -> Optional[str]:
    """Use reference ground speed and trk to determine BDS50 and DBS60.

    Args:
@ -51,7 +51,8 @@ def is50or60(msg, spd_ref, trk_ref, alt_ref):
        alt_ref (float): reference altitude (ADS-B altitude), ft

    Returns:
-        String or None: BDS version, or possible versions, or None if nothing matches.
+        String or None: BDS version, or possible versions,
+          or None if nothing matches.

    """

@ -60,25 +61,34 @@ def is50or60(msg, spd_ref, trk_ref, alt_ref):
        vy = v * np.cos(np.radians(angle))
        return vx, vy

+    # message must be both BDS 50 and 60 before processing
    if not (bds50.is50(msg) and bds60.is60(msg)):
        return None

-    h50 = bds50.trk50(msg)
-    v50 = bds50.gs50(msg)
-
-    if h50 is None or v50 is None:
-        return "BDS50,BDS60"
-
+    # --- assuming BDS60 ---
    h60 = bds60.hdg60(msg)
    m60 = bds60.mach60(msg)
    i60 = bds60.ias60(msg)

+    # additional check now knowing the altitude
+    if (m60 is not None) and (i60 is not None):
+        ias_ = aero.mach2cas(m60, alt_ref * aero.ft) / aero.kts
+        if abs(i60 - ias_) > 20:
+            return "BDS50"
+
    if h60 is None or (m60 is None and i60 is None):
        return "BDS50,BDS60"

    m60 = np.nan if m60 is None else m60
    i60 = np.nan if i60 is None else i60

+    # --- assuming BDS50 ---
+    h50 = bds50.trk50(msg)
+    v50 = bds50.gs50(msg)
+
+    if h50 is None or v50 is None:
+        return "BDS50,BDS60"
+
    XY5 = vxy(v50 * aero.kts, h50)
    XY6m = vxy(aero.mach2tas(m60, alt_ref * aero.ft), h60)
    XY6i = vxy(aero.cas2tas(i60 * aero.kts, alt_ref * aero.ft), h60)
@ -104,15 +114,17 @@ def is50or60(msg, spd_ref, trk_ref, alt_ref):
    return BDS


-def infer(msg, mrar=False):
+def infer(msg: str, mrar: bool = False) -> Optional[str]:
    """Estimate the most likely BDS code of an message.

    Args:
        msg (str): 28 hexdigits string
-        mrar (bool): Also infer MRAR (BDS 44) and MHR (BDS 45). Defaults to False.
+        mrar (bool): Also infer MRAR (BDS 44) and MHR (BDS 45).
+          Defaults to False.

    Returns:
-        String or None: BDS version, or possible versions, or None if nothing matches.
+        String or None: BDS version, or possible versions,
+          or None if nothing matches.

    """
    df = common.df(msg)
@ -123,6 +135,8 @@ def infer(msg, mrar=False):
    # For ADS-B / Mode-S extended squitter
    if df == 17:
        tc = common.typecode(msg)
+        if tc is None:
+            return None

        if 1 <= tc <= 4:
            return "BDS08"  # identification and category
--- a/pyModeS/decoder/bds/bds05.py
+++ b/pyModeS/decoder/bds/bds05.py
@ -1,14 +1,20 @@
 # ------------------------------------------
 #   BDS 0,5
 #   ADS-B TC=9-18
-#   Airborn position
+#   Airborne position
 # ------------------------------------------

-from pyModeS import common
+from __future__ import annotations
+
+from datetime import datetime
+
+from ... import common


-def airborne_position(msg0, msg1, t0, t1):
-    """Decode airborn position from a pair of even and odd position message
+def airborne_position(
+    msg0: str, msg1: str, t0: int | datetime, t1: int | datetime
+) -> None | tuple[float, float]:
+    """Decode airborne position from a pair of even and odd position message

    Args:
        msg0 (string): even message (28 hexdigits)
@ -34,13 +40,13 @@ def airborne_position(msg0, msg1, t0, t1):
        raise RuntimeError("Both even and odd CPR frames are required.")

    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
-    cprlat_even = common.bin2int(mb0[22:39]) / 131072.0
-    cprlon_even = common.bin2int(mb0[39:56]) / 131072.0
-    cprlat_odd = common.bin2int(mb1[22:39]) / 131072.0
-    cprlon_odd = common.bin2int(mb1[39:56]) / 131072.0
+    cprlat_even = common.bin2int(mb0[22:39]) / 131072
+    cprlon_even = common.bin2int(mb0[39:56]) / 131072
+    cprlat_odd = common.bin2int(mb1[22:39]) / 131072
+    cprlon_odd = common.bin2int(mb1[39:56]) / 131072

-    air_d_lat_even = 360.0 / 60
-    air_d_lat_odd = 360.0 / 59
+    air_d_lat_even = 360 / 60
+    air_d_lat_odd = 360 / 59

    # compute latitude index 'j'
    j = common.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
@ -59,30 +65,33 @@ def airborne_position(msg0, msg1, t0, t1):
        return None

    # compute ni, longitude index m, and longitude
-    if t0 > t1:
+    # (people pass int+int or datetime+datetime)
+    if t0 > t1:  # type: ignore
        lat = lat_even
        nl = common.cprNL(lat)
        ni = max(common.cprNL(lat) - 0, 1)
        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
-        lon = (360.0 / ni) * (m % ni + cprlon_even)
+        lon = (360 / ni) * (m % ni + cprlon_even)
    else:
        lat = lat_odd
        nl = common.cprNL(lat)
        ni = max(common.cprNL(lat) - 1, 1)
        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
-        lon = (360.0 / ni) * (m % ni + cprlon_odd)
+        lon = (360 / ni) * (m % ni + cprlon_odd)

    if lon > 180:
        lon = lon - 360

-    return round(lat, 5), round(lon, 5)
+    return lat, lon


-def airborne_position_with_ref(msg, lat_ref, lon_ref):
+def airborne_position_with_ref(
+    msg: str, lat_ref: float, lon_ref: float
+) -> tuple[float, float]:
    """Decode airborne position with only one message,
    knowing reference nearby location, such as previously calculated location,
    ground station, or airport location, etc. The reference position shall
-    be with in 180NM of the true position.
+    be within 180NM of the true position.

    Args:
        msg (str): even message (28 hexdigits)
@ -95,11 +104,11 @@ def airborne_position_with_ref(msg, lat_ref, lon_ref):

    mb = common.hex2bin(msg)[32:]

-    cprlat = common.bin2int(mb[22:39]) / 131072.0
-    cprlon = common.bin2int(mb[39:56]) / 131072.0
+    cprlat = common.bin2int(mb[22:39]) / 131072
+    cprlon = common.bin2int(mb[39:56]) / 131072

    i = int(mb[21])
-    d_lat = 360.0 / 59 if i else 360.0 / 60
+    d_lat = 360 / 59 if i else 360 / 60

    j = common.floor(lat_ref / d_lat) + common.floor(
        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
@ -110,9 +119,9 @@ def airborne_position_with_ref(msg, lat_ref, lon_ref):
    ni = common.cprNL(lat) - i

    if ni > 0:
-        d_lon = 360.0 / ni
+        d_lon = 360 / ni
    else:
-        d_lon = 360.0
+        d_lon = 360

    m = common.floor(lon_ref / d_lon) + common.floor(
        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
@ -120,10 +129,10 @@ def airborne_position_with_ref(msg, lat_ref, lon_ref):

    lon = d_lon * (m + cprlon)

-    return round(lat, 5), round(lon, 5)
+    return lat, lon


-def altitude(msg):
+def altitude(msg: str) -> None | int:
    """Decode aircraft altitude

    Args:
@ -135,21 +144,19 @@ def altitude(msg):

    tc = common.typecode(msg)

-    if tc < 9 or tc == 19 or tc > 22:
-        raise RuntimeError("%s: Not a airborn position message" % msg)
+    if tc is None or tc < 9 or tc == 19 or tc > 22:
+        raise RuntimeError("%s: Not an airborne position message" % msg)

    mb = common.hex2bin(msg)[32:]
+    altbin = mb[8:20]

    if tc < 19:
-        # barometric altitude
-        q = mb[15]
-        if q:
-            n = common.bin2int(mb[8:15] + mb[16:20])
-            alt = n * 25 - 1000
+        altcode = altbin[0:6] + "0" + altbin[6:]
+        alt = common.altitude(altcode)
+        if alt != -999999:
+            return alt
        else:
-            alt = None
+            # return None if altitude is invalid
+            return None
    else:
-        # GNSS altitude, meters -> feet
-        alt = common.bin2int(mb[8:20]) * 3.28084
-
-    return alt
+        return common.bin2int(altbin) * 3.28084  # type: ignore
--- a/pyModeS/decoder/bds/bds06.py
+++ b/pyModeS/decoder/bds/bds06.py
@ -1,13 +1,24 @@
 # ------------------------------------------
 #   BDS 0,6
 #   ADS-B TC=5-8
-#   Surface movment
+#   Surface movement
 # ------------------------------------------

-from pyModeS import common
+from __future__ import annotations
+
+from datetime import datetime
+
+from ... import common


-def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
+def surface_position(
+    msg0: str,
+    msg1: str,
+    t0: int | datetime,
+    t1: int | datetime,
+    lat_ref: float,
+    lon_ref: float,
+) -> None | tuple[float, float]:
    """Decode surface position from a pair of even and odd position message,
    the lat/lon of receiver must be provided to yield the correct solution.

@ -27,13 +38,13 @@ def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
    msgbin1 = common.hex2bin(msg1)

    # 131072 is 2^17, since CPR lat and lon are 17 bits each.
-    cprlat_even = common.bin2int(msgbin0[54:71]) / 131072.0
-    cprlon_even = common.bin2int(msgbin0[71:88]) / 131072.0
-    cprlat_odd = common.bin2int(msgbin1[54:71]) / 131072.0
-    cprlon_odd = common.bin2int(msgbin1[71:88]) / 131072.0
+    cprlat_even = common.bin2int(msgbin0[54:71]) / 131072
+    cprlon_even = common.bin2int(msgbin0[71:88]) / 131072
+    cprlat_odd = common.bin2int(msgbin1[54:71]) / 131072
+    cprlon_odd = common.bin2int(msgbin1[71:88]) / 131072

-    air_d_lat_even = 90.0 / 60
-    air_d_lat_odd = 90.0 / 59
+    air_d_lat_even = 90 / 60
+    air_d_lat_odd = 90 / 59

    # compute latitude index 'j'
    j = common.floor(59 * cprlat_even - 60 * cprlat_odd + 0.5)
@ -43,8 +54,8 @@ def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
    lat_odd_n = float(air_d_lat_odd * (j % 59 + cprlat_odd))

    # solution for north hemisphere
-    lat_even_s = lat_even_n - 90.0
-    lat_odd_s = lat_odd_n - 90.0
+    lat_even_s = lat_even_n - 90
+    lat_odd_s = lat_odd_n - 90

    # chose which solution corrispondes to receiver location
    lat_even = lat_even_n if lat_ref > 0 else lat_even_s
@ -55,38 +66,41 @@ def surface_position(msg0, msg1, t0, t1, lat_ref, lon_ref):
        return None

    # compute ni, longitude index m, and longitude
-    if t0 > t1:
+    # (people pass int+int or datetime+datetime)
+    if t0 > t1:  # type: ignore
        lat = lat_even
        nl = common.cprNL(lat_even)
        ni = max(common.cprNL(lat_even) - 0, 1)
        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
-        lon = (90.0 / ni) * (m % ni + cprlon_even)
+        lon = (90 / ni) * (m % ni + cprlon_even)
    else:
        lat = lat_odd
        nl = common.cprNL(lat_odd)
        ni = max(common.cprNL(lat_odd) - 1, 1)
        m = common.floor(cprlon_even * (nl - 1) - cprlon_odd * nl + 0.5)
-        lon = (90.0 / ni) * (m % ni + cprlon_odd)
+        lon = (90 / ni) * (m % ni + cprlon_odd)

    # four possible longitude solutions
-    lons = [lon, lon + 90.0, lon + 180.0, lon + 270.0]
+    lons = [lon, lon + 90, lon + 180, lon + 270]

    # make sure lons are between -180 and 180
-    lons = [(l + 180) % 360 - 180 for l in lons]
+    lons = [(lon + 180) % 360 - 180 for lon in lons]

    # the closest solution to receiver is the correct one
-    dls = [abs(lon_ref - l) for l in lons]
+    dls = [abs(lon_ref - lon) for lon in lons]
    imin = min(range(4), key=dls.__getitem__)
    lon = lons[imin]

-    return round(lat, 5), round(lon, 5)
+    return lat, lon


-def surface_position_with_ref(msg, lat_ref, lon_ref):
+def surface_position_with_ref(
+    msg: str, lat_ref: float, lon_ref: float
+) -> tuple[float, float]:
    """Decode surface position with only one message,
    knowing reference nearby location, such as previously calculated location,
    ground station, or airport location, etc. The reference position shall
-    be with in 45NM of the true position.
+    be within 45NM of the true position.

    Args:
        msg (str): even message (28 hexdigits)
@ -99,11 +113,11 @@ def surface_position_with_ref(msg, lat_ref, lon_ref):

    mb = common.hex2bin(msg)[32:]

-    cprlat = common.bin2int(mb[22:39]) / 131072.0
-    cprlon = common.bin2int(mb[39:56]) / 131072.0
+    cprlat = common.bin2int(mb[22:39]) / 131072
+    cprlon = common.bin2int(mb[39:56]) / 131072

    i = int(mb[21])
-    d_lat = 90.0 / 59 if i else 90.0 / 60
+    d_lat = 90 / 59 if i else 90 / 60

    j = common.floor(lat_ref / d_lat) + common.floor(
        0.5 + ((lat_ref % d_lat) / d_lat) - cprlat
@ -114,9 +128,9 @@ def surface_position_with_ref(msg, lat_ref, lon_ref):
    ni = common.cprNL(lat) - i

    if ni > 0:
-        d_lon = 90.0 / ni
+        d_lon = 90 / ni
    else:
-        d_lon = 90.0
+        d_lon = 90

    m = common.floor(lon_ref / d_lon) + common.floor(
        0.5 + ((lon_ref % d_lon) / d_lon) - cprlon
@ -124,19 +138,22 @@ def surface_position_with_ref(msg, lat_ref, lon_ref):

    lon = d_lon * (m + cprlon)

-    return round(lat, 5), round(lon, 5)
+    return lat, lon


-def surface_velocity(msg, source=False):
+def surface_velocity(
+    msg: str, source: bool = False
+) -> tuple[None | float, None | float, int, str]:
    """Decode surface velocity from a surface position message

    Args:
        msg (str): 28 hexdigits string
-        source (boolean): Include direction and vertical rate sources in return. Default to False.
+        source (boolean): Include direction and vertical rate sources in return.
+            Default to False.
            If set to True, the function will return six value instead of four.

    Returns:
-        int, float, int, string, [string], [string]: Four or six parameters, including:
+        int, float, int, string, [string], [string]:
            - Speed (kt)
            - Angle (degree), ground track
            - Vertical rate, always 0
@ -145,7 +162,8 @@ def surface_velocity(msg, source=False):
            - [Optional] Vertical rate source (None)

    """
-    if common.typecode(msg) < 5 or common.typecode(msg) > 8:
+    tc = common.typecode(msg)
+    if tc is None or tc < 5 or tc > 8:
        raise RuntimeError("%s: Not a surface message, expecting 5<TC<8" % msg)

    mb = common.hex2bin(msg)[32:]
@ -153,8 +171,7 @@ def surface_velocity(msg, source=False):
    # ground track
    trk_status = int(mb[12])
    if trk_status == 1:
-        trk = common.bin2int(mb[13:20]) * 360.0 / 128.0
-        trk = round(trk, 1)
+        trk = common.bin2int(mb[13:20]) * 360 / 128
    else:
        trk = None

@ -164,18 +181,17 @@ def surface_velocity(msg, source=False):
    if mov == 0 or mov > 124:
        spd = None
    elif mov == 1:
-        spd = 0
+        spd = 0.0
    elif mov == 124:
-        spd = 175
+        spd = 175.0
    else:
-        movs = [2, 9, 13, 39, 94, 109, 124]
-        kts = [0.125, 1, 2, 15, 70, 100, 175]
-        i = next(m[0] for m in enumerate(movs) if m[1] > mov)
-        step = (kts[i] - kts[i - 1]) * 1.0 / (movs[i] - movs[i - 1])
-        spd = kts[i - 1] + (mov - movs[i - 1]) * step
-        spd = round(spd, 2)
+        mov_lb = [2, 9, 13, 39, 94, 109, 124]
+        kts_lb: list[float] = [0.125, 1, 2, 15, 70, 100, 175]
+        step: list[float] = [0.125, 0.25, 0.5, 1, 2, 5]
+        i = next(m[0] for m in enumerate(mov_lb) if m[1] > mov)
+        spd = kts_lb[i - 1] + (mov - mov_lb[i - 1]) * step[i - 1]

    if source:
-        return spd, trk, 0, "GS", "TRUE_NORTH", None
+        return spd, trk, 0, "GS", "TRUE_NORTH", None  # type: ignore
    else:
        return spd, trk, 0, "GS"
--- a/pyModeS/decoder/bds/bds08.py
+++ b/pyModeS/decoder/bds/bds08.py
@ -1,13 +1,13 @@
 # ------------------------------------------
 #   BDS 0,8
 #   ADS-B TC=1-4
-#   Aircraft identitification and category
+#   Aircraft identification and category
 # ------------------------------------------

-from pyModeS import common
+from ... import common


-def category(msg):
+def category(msg: str) -> int:
    """Aircraft category number

    Args:
@ -17,7 +17,8 @@ def category(msg):
        int: category number
    """

-    if common.typecode(msg) < 1 or common.typecode(msg) > 4:
+    tc = common.typecode(msg)
+    if tc is None or tc < 1 or tc > 4:
        raise RuntimeError("%s: Not a identification message" % msg)

    msgbin = common.hex2bin(msg)
@ -25,7 +26,7 @@ def category(msg):
    return common.bin2int(mebin[5:8])


-def callsign(msg):
+def callsign(msg: str) -> str:
    """Aircraft callsign

    Args:
@ -34,8 +35,9 @@ def callsign(msg):
    Returns:
        string: callsign
    """
+    tc = common.typecode(msg)

-    if common.typecode(msg) < 1 or common.typecode(msg) > 4:
+    if tc is None or tc < 1 or tc > 4:
        raise RuntimeError("%s: Not a identification message" % msg)

    chars = "#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######"
--- a/pyModeS/decoder/bds/bds09.py
+++ b/pyModeS/decoder/bds/bds09.py
@ -1,35 +1,41 @@
 # ------------------------------------------
 #   BDS 0,9
 #   ADS-B TC=19
-#   Aircraft Airborn velocity
+#   Aircraft Airborne velocity
 # ------------------------------------------

-from pyModeS import common
-
+from __future__ import annotations

 import math

+from ... import common

-def airborne_velocity(msg, source=False):
+
+def airborne_velocity(
+    msg: str, source: bool = False
+) -> None | tuple[None | int, None | float, None | int, str]:
    """Decode airborne velocity.

    Args:
        msg (str): 28 hexdigits string
-        source (boolean): Include direction and vertical rate sources in return. Default to False.
+        source (boolean): Include direction and vertical rate sources in return.
+            Default to False.
            If set to True, the function will return six value instead of four.

    Returns:
-        int, float, int, string, [string], [string]: Four or six parameters, including:
+        int, float, int, string, [string], [string]:
            - Speed (kt)
            - Angle (degree), either ground track or heading
            - Vertical rate (ft/min)
            - Speed type ('GS' for ground speed, 'AS' for airspeed)
-            - [Optional] Direction source ('TRUE_NORTH' or 'MAGENTIC_NORTH')
+            - [Optional] Direction source ('TRUE_NORTH' or 'MAGNETIC_NORTH')
            - [Optional] Vertical rate source ('BARO' or 'GNSS')

    """
    if common.typecode(msg) != 19:
-        raise RuntimeError("%s: Not a airborne velocity message, expecting TC=19" % msg)
+        raise RuntimeError(
+            "%s: Not a airborne velocity message, expecting TC=19" % msg
+        )

    mb = common.hex2bin(msg)[32:]

@ -38,43 +44,54 @@ def airborne_velocity(msg, source=False):
    if common.bin2int(mb[14:24]) == 0 or common.bin2int(mb[25:35]) == 0:
        return None

+    trk_or_hdg: None | float
+    spd: None | float
+
    if subtype in (1, 2):
-        v_ew_sign = -1 if mb[13] == "1" else 1
-        v_ew = common.bin2int(mb[14:24]) - 1  # east-west velocity
-        if subtype == 2:  # Supersonic
-            v_ew *= 4
+        v_ew = common.bin2int(mb[14:24])
+        v_ns = common.bin2int(mb[25:35])

-        v_ns_sign = -1 if mb[24] == "1" else 1
-        v_ns = common.bin2int(mb[25:35]) - 1  # north-south velocity
-        if subtype == 2:  # Supersonic
-            v_ns *= 4
+        if v_ew == 0 or v_ns == 0:
+            spd = None
+            trk_or_hdg = None
+            vs = None
+        else:
+            v_ew_sign = -1 if mb[13] == "1" else 1
+            v_ew = v_ew - 1  # east-west velocity
+            if subtype == 2:  # Supersonic
+                v_ew *= 4

-        v_we = v_ew_sign * v_ew
-        v_sn = v_ns_sign * v_ns
+            v_ns_sign = -1 if mb[24] == "1" else 1
+            v_ns = v_ns - 1  # north-south velocity
+            if subtype == 2:  # Supersonic
+                v_ns *= 4

-        spd = math.sqrt(v_sn * v_sn + v_we * v_we)  # unit in kts
-        spd = int(spd)
+            v_we = v_ew_sign * v_ew
+            v_sn = v_ns_sign * v_ns

-        trk = math.atan2(v_we, v_sn)
-        trk = math.degrees(trk)  # convert to degrees
-        trk = trk if trk >= 0 else trk + 360  # no negative val
+            spd = math.sqrt(v_sn * v_sn + v_we * v_we)  # unit in kts
+            spd = int(spd)
+
+            trk = math.atan2(v_we, v_sn)
+            trk = math.degrees(trk)  # convert to degrees
+            trk = trk if trk >= 0 else trk + 360  # no negative val
+
+            trk_or_hdg = trk

        spd_type = "GS"
-        trk_or_hdg = round(trk, 2)
        dir_type = "TRUE_NORTH"

    else:
        if mb[13] == "0":
            hdg = None
        else:
-            hdg = common.bin2int(mb[14:24]) / 1024.0 * 360.0
-            hdg = round(hdg, 2)
+            hdg = common.bin2int(mb[14:24]) / 1024 * 360.0

        trk_or_hdg = hdg

        spd = common.bin2int(mb[25:35])
        spd = None if spd == 0 else spd - 1
-        if subtype == 4:  # Supersonic
+        if subtype == 4 and spd is not None:  # Supersonic
            spd *= 4

        if mb[24] == "0":
@ -82,7 +99,7 @@ def airborne_velocity(msg, source=False):
        else:
            spd_type = "TAS"

-        dir_type = "MAGENTIC_NORTH"
+        dir_type = "MAGNETIC_NORTH"

    vr_source = "GNSS" if mb[35] == "0" else "BARO"
    vr_sign = -1 if mb[36] == "1" else 1
@ -90,12 +107,19 @@ def airborne_velocity(msg, source=False):
    vs = None if vr == 0 else int(vr_sign * (vr - 1) * 64)

    if source:
-        return spd, trk_or_hdg, vs, spd_type, dir_type, vr_source
+        return (  # type: ignore
+            spd,
+            trk_or_hdg,
+            vs,
+            spd_type,
+            dir_type,
+            vr_source,
+        )
    else:
        return spd, trk_or_hdg, vs, spd_type


-def altitude_diff(msg):
+def altitude_diff(msg: str) -> None | float:
    """Decode the differece between GNSS and barometric altitude.

    Args:
@ -108,8 +132,10 @@ def altitude_diff(msg):
    """
    tc = common.typecode(msg)

-    if tc != 19:
-        raise RuntimeError("%s: Not a airborne velocity message, expecting TC=19" % msg)
+    if tc is None or tc != 19:
+        raise RuntimeError(
+            "%s: Not a airborne velocity message, expecting TC=19" % msg
+        )

    msgbin = common.hex2bin(msg)
    sign = -1 if int(msgbin[80]) else 1
--- a/pyModeS/decoder/bds/bds10.py
+++ b/pyModeS/decoder/bds/bds10.py
@ -3,10 +3,11 @@
 # Data link capability report
 # ------------------------------------------

-from pyModeS import common
+
+from ... import common


-def is10(msg):
+def is10(msg: str) -> bool:
    """Check if a message is likely to be BDS code 1,0

    Args:
@ -38,7 +39,7 @@ def is10(msg):
    return True


-def ovc10(msg):
+def ovc10(msg: str) -> int:
    """Return the overlay control capability

    Args:
--- a/pyModeS/decoder/bds/bds17.py
+++ b/pyModeS/decoder/bds/bds17.py
@ -3,10 +3,12 @@
 #   Common usage GICB capability report
 # ------------------------------------------

-from pyModeS import common
+from typing import List
+
+from ... import common


-def is17(msg):
+def is17(msg: str) -> bool:
    """Check if a message is likely to be BDS code 1,7

    Args:
@ -21,7 +23,7 @@ def is17(msg):

    d = common.hex2bin(common.data(msg))

-    if common.bin2int(d[28:56]) != 0:
+    if common.bin2int(d[24:56]) != 0:
        return False

    caps = cap17(msg)
@ -38,14 +40,14 @@ def is17(msg):
    return True


-def cap17(msg):
+def cap17(msg: str) -> List[str]:
    """Extract capacities from BDS 1,7 message

    Args:
        msg (str): 28 hexdigits string

    Returns:
-        list: list of support BDS codes
+        list: list of supported BDS codes
    """
    allbds = [
        "05",
@ -72,14 +74,10 @@ def cap17(msg):
        "56",
        "5F",
        "60",
-        "NA",
-        "NA",
-        "E1",
-        "E2",
    ]

    d = common.hex2bin(common.data(msg))
-    idx = [i for i, v in enumerate(d[:28]) if v == "1"]
-    capacity = ["BDS" + allbds[i] for i in idx if allbds[i] is not "NA"]
+    idx = [i for i, v in enumerate(d[:24]) if v == "1"]
+    capacity = ["BDS" + allbds[i] for i in idx]

    return capacity
--- a/pyModeS/decoder/bds/bds20.py
+++ b/pyModeS/decoder/bds/bds20.py
@ -3,10 +3,10 @@
 # Aircraft identification
 # ------------------------------------------

-from pyModeS import common
+from ... import common


-def is20(msg):
+def is20(msg: str) -> bool:
    """Check if a message is likely to be BDS code 2,0

    Args:
@ -24,15 +24,17 @@ def is20(msg):
    if d[0:8] != "00100000":
        return False

-    cs = cs20(msg)
+    # allow empty callsign
+    if common.bin2int(d[8:56]) == 0:
+        return True

-    if "#" in cs:
+    if "#" in cs20(msg):
        return False

    return True


-def cs20(msg):
+def cs20(msg: str) -> str:
    """Aircraft callsign

    Args:
--- a/pyModeS/decoder/bds/bds30.py
+++ b/pyModeS/decoder/bds/bds30.py
@ -3,11 +3,11 @@
 # ACAS active resolution advisory
 # ------------------------------------------

-from pyModeS import common
+from ... import common


-def is30(msg):
-    """Check if a message is likely to be BDS code 2,0
+def is30(msg: str) -> bool:
+    """Check if a message is likely to be BDS code 3,0

    Args:
        msg (str): 28 hexdigits string
--- a/pyModeS/decoder/bds/bds40.py
+++ b/pyModeS/decoder/bds/bds40.py
@ -4,10 +4,12 @@
 # ------------------------------------------

 import warnings
-from pyModeS import common
+from typing import Optional
+
+from ... import common


-def is40(msg):
+def is40(msg: str) -> bool:
    """Check if a message is likely to be BDS code 4,0

    Args:
@ -50,7 +52,7 @@ def is40(msg):
    return True


-def selalt40mcp(msg):
+def selalt40mcp(msg: str) -> Optional[int]:
    """Selected altitude, MCP/FCU

    Args:
@ -68,7 +70,7 @@ def selalt40mcp(msg):
    return alt


-def selalt40fms(msg):
+def selalt40fms(msg: str) -> Optional[int]:
    """Selected altitude, FMS

    Args:
@ -86,7 +88,7 @@ def selalt40fms(msg):
    return alt


-def p40baro(msg):
+def p40baro(msg: str) -> Optional[float]:
    """Barometric pressure setting

    Args:
@ -104,17 +106,19 @@ def p40baro(msg):
    return p


-def alt40mcp(msg):
+def alt40mcp(msg: str) -> Optional[int]:
    warnings.warn(
-        "alt40mcp() has been renamed to selalt40mcp(). It will be removed in the future.",
+        """alt40mcp() has been renamed to selalt40mcp().
+        It will be removed in the future.""",
        DeprecationWarning,
    )
    return selalt40mcp(msg)


-def alt40fms(msg):
+def alt40fms(msg: str) -> Optional[int]:
    warnings.warn(
-        "alt40fms() has been renamed to selalt40fms(). It will be removed in the future.",
+        """alt40fms() has been renamed to selalt40fms().
+        It will be removed in the future.""",
        DeprecationWarning,
    )
-    return selalt40mcp(msg)
+    return selalt40fms(msg)
--- a/pyModeS/decoder/bds/bds44.py
+++ b/pyModeS/decoder/bds/bds44.py
@ -3,10 +3,12 @@
 # Meteorological routine air report
 # ------------------------------------------

-from pyModeS import common
+from typing import Optional, Tuple
+
+from ... import common


-def is44(msg):
+def is44(msg: str) -> bool:
    """Check if a message is likely to be BDS code 4,4.

    Meteorological routine air report
@ -51,7 +53,7 @@ def is44(msg):
    return True


-def wind44(msg):
+def wind44(msg: str) -> Tuple[Optional[int], Optional[float]]:
    """Wind speed and direction.

    Args:
@ -68,12 +70,12 @@ def wind44(msg):
        return None, None

    speed = common.bin2int(d[5:14])  # knots
-    direction = common.bin2int(d[14:23]) * 180.0 / 256.0  # degree
+    direction = common.bin2int(d[14:23]) * 180 / 256  # degree

-    return round(speed, 0), round(direction, 1)
+    return speed, direction


-def temp44(msg):
+def temp44(msg: str) -> Tuple[float, float]:
    """Static air temperature.

    Args:
@ -94,15 +96,13 @@ def temp44(msg):
        value = value - 1024

    temp = value * 0.25  # celsius
-    temp = round(temp, 2)

    temp_alternative = value * 0.125  # celsius
-    temp_alternative = round(temp_alternative, 3)

    return temp, temp_alternative


-def p44(msg):
+def p44(msg: str) -> Optional[int]:
    """Static pressure.

    Args:
@ -122,7 +122,7 @@ def p44(msg):
    return p


-def hum44(msg):
+def hum44(msg: str) -> Optional[float]:
    """humidity

    Args:
@ -136,13 +136,13 @@ def hum44(msg):
    if d[49] == "0":
        return None

-    hm = common.bin2int(d[50:56]) * 100.0 / 64  # %
+    hm = common.bin2int(d[50:56]) * 100 / 64  # %

-    return round(hm, 1)
+    return hm


-def turb44(msg):
-    """Turblence.
+def turb44(msg: str) -> Optional[int]:
+    """Turbulence.

    Args:
        msg (str): 28 hexdigits string
--- a/pyModeS/decoder/bds/bds45.py
+++ b/pyModeS/decoder/bds/bds45.py
@ -3,10 +3,12 @@
 # Meteorological hazard report
 # ------------------------------------------

-from pyModeS import common
+from typing import Optional
+
+from ... import common


-def is45(msg):
+def is45(msg: str) -> bool:
    """Check if a message is likely to be BDS code 4,5.

    Meteorological hazard report
@ -60,7 +62,7 @@ def is45(msg):
    return True


-def turb45(msg):
+def turb45(msg: str) -> Optional[int]:
    """Turbulence.

    Args:
@ -78,7 +80,7 @@ def turb45(msg):
    return turb


-def ws45(msg):
+def ws45(msg: str) -> Optional[int]:
    """Wind shear.

    Args:
@ -96,7 +98,7 @@ def ws45(msg):
    return ws


-def mb45(msg):
+def mb45(msg: str) -> Optional[int]:
    """Microburst.

    Args:
@ -114,7 +116,7 @@ def mb45(msg):
    return mb


-def ic45(msg):
+def ic45(msg: str) -> Optional[int]:
    """Icing.

    Args:
@ -132,7 +134,7 @@ def ic45(msg):
    return ic


-def wv45(msg):
+def wv45(msg: str) -> Optional[int]:
    """Wake vortex.

    Args:
@ -150,7 +152,7 @@ def wv45(msg):
    return ws


-def temp45(msg):
+def temp45(msg: str) -> Optional[float]:
    """Static air temperature.

    Args:
@ -169,12 +171,11 @@ def temp45(msg):
        value = value - 512

    temp = value * 0.25  # celsius
-    temp = round(temp, 1)

    return temp


-def p45(msg):
+def p45(msg: str) -> Optional[int]:
    """Average static pressure.

    Args:
@ -191,7 +192,7 @@ def p45(msg):
    return p


-def rh45(msg):
+def rh45(msg: str) -> Optional[int]:
    """Radio height.

    Args:
--- a/pyModeS/decoder/bds/bds50.py
+++ b/pyModeS/decoder/bds/bds50.py
@ -3,10 +3,12 @@
 # Track and turn report
 # ------------------------------------------

-from pyModeS import common
+from typing import Optional
+
+from ... import common


-def is50(msg):
+def is50(msg: str) -> bool:
    """Check if a message is likely to be BDS code 5,0
    (Track and turn report)

@ -40,7 +42,7 @@ def is50(msg):
        return False

    roll = roll50(msg)
-    if (roll is not None) and abs(roll) > 60:
+    if (roll is not None) and abs(roll) > 50:
        return False

    gs = gs50(msg)
@ -57,7 +59,7 @@ def is50(msg):
    return True


-def roll50(msg):
+def roll50(msg: str) -> Optional[float]:
    """Roll angle, BDS 5,0 message

    Args:
@ -78,11 +80,11 @@ def roll50(msg):
    if sign:
        value = value - 512

-    angle = value * 45.0 / 256.0  # degree
-    return round(angle, 1)
+    angle = value * 45 / 256  # degree
+    return angle


-def trk50(msg):
+def trk50(msg: str) -> Optional[float]:
    """True track angle, BDS 5,0 message

    Args:
@ -102,16 +104,16 @@ def trk50(msg):
    if sign:
        value = value - 1024

-    trk = value * 90.0 / 512.0
+    trk = value * 90 / 512.0

    # convert from [-180, 180] to [0, 360]
    if trk < 0:
        trk = 360 + trk

-    return round(trk, 3)
+    return trk


-def gs50(msg):
+def gs50(msg: str) -> Optional[float]:
    """Ground speed, BDS 5,0 message

    Args:
@ -129,7 +131,7 @@ def gs50(msg):
    return spd


-def rtrk50(msg):
+def rtrk50(msg: str) -> Optional[float]:
    """Track angle rate, BDS 5,0 message

    Args:
@ -151,11 +153,11 @@ def rtrk50(msg):
    if sign:
        value = value - 512

-    angle = value * 8.0 / 256.0  # degree / sec
-    return round(angle, 3)
+    angle = value * 8 / 256  # degree / sec
+    return angle


-def tas50(msg):
+def tas50(msg: str) -> Optional[float]:
    """Aircraft true airspeed, BDS 5,0 message

    Args:
--- a/pyModeS/decoder/bds/bds53.py
+++ b/pyModeS/decoder/bds/bds53.py
@ -3,10 +3,12 @@
 # Air-referenced state vector
 # ------------------------------------------

-from pyModeS import common
+from typing import Optional
+
+from ... import common


-def is53(msg):
+def is53(msg: str) -> bool:
    """Check if a message is likely to be BDS code 5,3
    (Air-referenced state vector)

@ -58,7 +60,7 @@ def is53(msg):
    return True


-def hdg53(msg):
+def hdg53(msg: str) -> Optional[float]:
    """Magnetic heading, BDS 5,3 message

    Args:
@ -78,16 +80,16 @@ def hdg53(msg):
    if sign:
        value = value - 1024

-    hdg = value * 90.0 / 512.0  # degree
+    hdg = value * 90 / 512  # degree

    # convert from [-180, 180] to [0, 360]
    if hdg < 0:
        hdg = 360 + hdg

-    return round(hdg, 3)
+    return hdg


-def ias53(msg):
+def ias53(msg: str) -> Optional[float]:
    """Indicated airspeed, DBS 5,3 message

    Args:
@ -105,7 +107,7 @@ def ias53(msg):
    return ias


-def mach53(msg):
+def mach53(msg: str) -> Optional[float]:
    """MACH number, DBS 5,3 message

    Args:
@ -120,10 +122,10 @@ def mach53(msg):
        return None

    mach = common.bin2int(d[24:33]) * 0.008
-    return round(mach, 3)
+    return mach


-def tas53(msg):
+def tas53(msg: str) -> Optional[float]:
    """Aircraft true airspeed, BDS 5,3 message

    Args:
@ -138,10 +140,10 @@ def tas53(msg):
        return None

    tas = common.bin2int(d[34:46]) * 0.5  # kts
-    return round(tas, 1)
+    return tas


-def vr53(msg):
+def vr53(msg: str) -> Optional[int]:
    """Vertical rate

    Args:
--- a/pyModeS/decoder/bds/bds60.py
+++ b/pyModeS/decoder/bds/bds60.py
@ -3,10 +3,13 @@
 # Heading and speed report
 # ------------------------------------------

-from pyModeS import common
+from typing import Optional
+
+from ... import common
+from ...extra import aero


-def is60(msg):
+def is60(msg: str) -> bool:
    """Check if a message is likely to be BDS code 6,0

    Args:
@ -54,10 +57,18 @@ def is60(msg):
    if vr_ins is not None and abs(vr_ins) > 6000:
        return False

+    # additional check knowing altitude
+    if (mach is not None) and (ias is not None) and (common.df(msg) == 20):
+        alt = common.altcode(msg)
+        if alt is not None:
+            ias_ = aero.mach2cas(mach, alt * aero.ft) / aero.kts
+            if abs(ias - ias_) > 20:
+                return False
+
    return True


-def hdg60(msg):
+def hdg60(msg: str) -> Optional[float]:
    """Megnetic heading of aircraft

    Args:
@ -77,16 +88,16 @@ def hdg60(msg):
    if sign:
        value = value - 1024

-    hdg = value * 90 / 512.0  # degree
+    hdg = value * 90 / 512  # degree

    # convert from [-180, 180] to [0, 360]
    if hdg < 0:
        hdg = 360 + hdg

-    return round(hdg, 3)
+    return hdg


-def ias60(msg):
+def ias60(msg: str) -> Optional[float]:
    """Indicated airspeed

    Args:
@ -104,7 +115,7 @@ def ias60(msg):
    return ias


-def mach60(msg):
+def mach60(msg: str) -> Optional[float]:
    """Aircraft MACH number

    Args:
@ -119,10 +130,10 @@ def mach60(msg):
        return None

    mach = common.bin2int(d[24:34]) * 2.048 / 512.0
-    return round(mach, 3)
+    return mach


-def vr60baro(msg):
+def vr60baro(msg: str) -> Optional[int]:
    """Vertical rate from barometric measurement, this value may be very noisy.

    Args:
@ -148,7 +159,7 @@ def vr60baro(msg):
    return roc


-def vr60ins(msg):
+def vr60ins(msg: str) -> Optional[int]:
    """Vertical rate measurd by onbard equiments (IRS, AHRS)

    Args:
--- a/pyModeS/decoder/bds/bds61.py
+++ b/pyModeS/decoder/bds/bds61.py
@ -0,0 +1,87 @@
+# ------------------------------------------
+#   BDS 6,1
+#   ADS-B TC=28
+#   Aircraft Airborne status
+# ------------------------------------------
+
+from ... import common
+
+
+def is_emergency(msg: str) -> bool:
+    """Check if the aircraft is reporting an emergency.
+
+    Non-emergencies are either a subtype of zero (no information) or
+    subtype of one and a value of zero (no emergency).
+    Subtype = 2 indicates an ACAS RA broadcast, look in BDS 3,0
+
+    :param msg: 28 bytes hexadecimal message string
+    :return: if the aircraft has declared an emergency
+    """
+    if common.typecode(msg) != 28:
+        raise RuntimeError(
+            "%s: Not an airborne status message, expecting TC=28" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+    subtype = common.bin2int(mb[5:8])
+
+    if subtype == 2:
+        raise RuntimeError("%s: Emergency message is ACAS-RA, not implemented")
+
+    emergency_state = common.bin2int(mb[8:11])
+
+    if subtype == 1 and emergency_state == 1:
+        return True
+    else:
+        return False
+
+
+def emergency_state(msg: str) -> int:
+    """Decode aircraft emergency state.
+
+    Value   Meaning
+    -----   -----------------------
+    0       No emergency
+    1       General emergency
+    2       Lifeguard/Medical
+    3       Minimum fuel
+    4       No communications
+    5       Unlawful communications
+    6-7     Reserved
+
+    :param msg: 28 bytes hexadecimal message string
+    :return: emergency state
+    """
+
+    mb = common.hex2bin(msg)[32:]
+    subtype = common.bin2int(mb[5:8])
+
+    if subtype == 2:
+        raise RuntimeError("%s: Emergency message is ACAS-RA, not implemented")
+
+    emergency_state = common.bin2int(mb[8:11])
+    return emergency_state
+
+
+def emergency_squawk(msg: str) -> str:
+    """Decode squawk code.
+
+    Emergency value 1: squawk 7700.
+    Emergency value 4: squawk 7600.
+    Emergency value 5: squawk 7500.
+
+    :param msg: 28 bytes hexadecimal message string
+    :return: aircraft squawk code
+    """
+    if common.typecode(msg) != 28:
+        raise RuntimeError(
+            "%s: Not an airborne status message, expecting TC=28" % msg
+        )
+
+    msgbin = common.hex2bin(msg)
+
+    # construct the 13 bits Mode A ID code
+    idcode = msgbin[43:56]
+
+    squawk = common.squawk(idcode)
+    return squawk
--- a/pyModeS/decoder/bds/bds62.py
+++ b/pyModeS/decoder/bds/bds62.py
@ -0,0 +1,552 @@
+# ------------------------------------------
+#   BDS 6,2
+#   ADS-B TC=29
+#   Target State and Status
+# ------------------------------------------
+
+from __future__ import annotations
+
+from ... import common
+
+
+def selected_altitude(msg: str) -> tuple[None | float, str]:
+    """Decode selected altitude.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Selected altitude (ft)
+        string: Source ('MCP/FCU' or 'FMS')
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not"
+            " contain selected altitude, use target altitude instead" % msg
+        )
+
+    alt = common.bin2int(mb[9:20])
+    if alt == 0:
+        return None, "N/A"
+    alt = (alt - 1) * 32
+    alt_source = "MCP/FCU" if int(mb[8]) == 0 else "FMS"
+
+    return alt, alt_source
+
+
+def target_altitude(msg: str) -> tuple[None | int, str, str]:
+    """Decode target altitude.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Target altitude (ft)
+        string: Source ('MCP/FCU', 'Holding mode' or 'FMS/RNAV')
+        string: Altitude reference, either pressure altitude or barometric
+           corrected altitude ('FL' or 'MSL')
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not"
+            " contain target altitude, use selected altitude instead" % msg
+        )
+
+    alt_avail = common.bin2int(mb[7:9])
+    if alt_avail == 0:
+        return None, "N/A", ""
+    elif alt_avail == 1:
+        alt_source = "MCP/FCU"
+    elif alt_avail == 2:
+        alt_source = "Holding mode"
+    else:
+        alt_source = "FMS/RNAV"
+
+    alt_ref = "FL" if int(mb[9]) == 0 else "MSL"
+
+    alt = -1000 + common.bin2int(mb[15:25]) * 100
+
+    return alt, alt_source, alt_ref
+
+
+def vertical_mode(msg: str) -> None | int:
+    """Decode vertical mode.
+
+    Value   Meaning
+    -----   -----------------------
+    1       "Acquiring" mode
+    2       "Capturing" or "Maintaining" mode
+    3       Reserved
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Vertical mode
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not"
+            " contain vertical mode, use vnav mode instead" % msg
+        )
+
+    vertical_mode = common.bin2int(mb[13:15])
+    if vertical_mode == 0:
+        return None
+
+    return vertical_mode
+
+
+def horizontal_mode(msg: str) -> None | int:
+    """Decode horizontal mode.
+
+    Value   Meaning
+    -----   -----------------------
+    1       "Acquiring" mode
+    2       "Capturing" or "Maintaining" mode
+    3       Reserved
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        int: Horizontal mode
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not "
+            "contain horizontal mode, use lnav mode instead" % msg
+        )
+
+    horizontal_mode = common.bin2int(mb[25:27])
+    if horizontal_mode == 0:
+        return None
+
+    return horizontal_mode
+
+
+def selected_heading(msg: str) -> None | float:
+    """Decode selected heading.
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        float: Selected heading (degree)
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain selected heading, use target angle instead" % msg
+        )
+
+    if int(mb[29]) == 0:
+        return None
+    else:
+        hdg_sign = int(mb[30])
+        hdg = (hdg_sign + 1) * common.bin2int(mb[31:39]) * (180 / 256)
+
+    return hdg
+
+
+def target_angle(msg: str) -> tuple[None | int, str, str]:
+    """Decode target heading/track angle.
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        int: Target angle (degree)
+        string: Angle type ('Heading' or 'Track')
+        string: Source ('MCP/FCU', 'Autopilot Mode' or 'FMS/RNAV')
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not "
+            "contain target angle, use selected heading instead" % msg
+        )
+
+    angle_avail = common.bin2int(mb[25:27])
+    if angle_avail == 0:
+        return None, "", "N/A"
+    else:
+        angle = common.bin2int(mb[27:36])
+
+        if angle_avail == 1:
+            angle_source = "MCP/FCU"
+        elif angle_avail == 2:
+            angle_source = "Autopilot mode"
+        else:
+            angle_source = "FMS/RNAV"
+
+        angle_type = "Heading" if int(mb[36]) else "Track"
+
+    return angle, angle_type, angle_source
+
+
+def baro_pressure_setting(msg: str) -> None | float:
+    """Decode barometric pressure setting.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        float: Barometric pressure setting (millibars)
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain barometric pressure setting" % msg
+        )
+
+    baro = common.bin2int(mb[20:29])
+    if baro == 0:
+        return None
+
+    return 800 + (baro - 1) * 0.8
+
+
+def autopilot(msg) -> None | bool:
+    """Decode autopilot engagement.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: Autopilot engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain autopilot engagement" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    autopilot = True if int(mb[47]) == 1 else False
+
+    return autopilot
+
+
+def vnav_mode(msg) -> None | bool:
+    """Decode VNAV mode.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: VNAV mode engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain vnav mode, use vertical mode instead" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    vnav_mode = True if int(mb[48]) == 1 else False
+
+    return vnav_mode
+
+
+def altitude_hold_mode(msg) -> None | bool:
+    """Decode altitude hold mode.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: Altitude hold mode engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain altitude hold mode" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    alt_hold_mode = True if int(mb[49]) == 1 else False
+
+    return alt_hold_mode
+
+
+def approach_mode(msg) -> None | bool:
+    """Decode approach mode.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: Approach mode engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain approach mode" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    app_mode = True if int(mb[51]) == 1 else False
+
+    return app_mode
+
+
+def lnav_mode(msg) -> None | bool:
+    """Decode LNAV mode.
+
+    Args:
+        msg (str): 28 hexdigits string
+
+    Returns:
+        bool: LNAV mode engaged
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        raise RuntimeError(
+            "%s: ADS-B version 1 target state and status message does not "
+            "contain lnav mode, use horizontal mode instead" % msg
+        )
+
+    if int(mb[46]) == 0:
+        return None
+
+    lnav_mode = True if int(mb[53]) == 1 else False
+
+    return lnav_mode
+
+
+def tcas_operational(msg) -> None | bool:
+    """Decode TCAS/ACAS operational.
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        bool: TCAS/ACAS operational
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 0:
+        tcas = True if int(mb[51]) == 0 else False
+    else:
+        tcas = True if int(mb[52]) == 1 else False
+
+    return tcas
+
+
+def tcas_ra(msg) -> bool:
+    """Decode TCAS/ACAS Resolution advisory.
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        bool: TCAS/ACAS Resolution advisory active
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not "
+            "contain TCAS/ACAS RA" % msg
+        )
+
+    tcas_ra = True if int(mb[52]) == 1 else False
+
+    return tcas_ra
+
+
+def emergency_status(msg) -> int:
+    """Decode aircraft emergency status.
+
+    Value   Meaning
+    -----   -----------------------
+    0       No emergency
+    1       General emergency
+    2       Lifeguard/medical emergency
+    3       Minimum fuel
+    4       No communications
+    5       Unlawful interference
+    6       Downed aircraft
+    7       Reserved
+
+    Args:
+        msg (str): 28 bytes hexadecimal message string
+
+    Returns:
+        int: Emergency status
+
+    """
+
+    if common.typecode(msg) != 29:
+        raise RuntimeError(
+            "%s: Not a target state and status message, expecting TC=29" % msg
+        )
+
+    mb = common.hex2bin(msg)[32:]
+
+    subtype = common.bin2int(mb[5:7])
+
+    if subtype == 1:
+        raise RuntimeError(
+            "%s: ADS-B version 2 target state and status message does not "
+            "contain emergency status" % msg
+        )
+
+    return common.bin2int(mb[53:56])
--- a/pyModeS/decoder/commb.py
+++ b/pyModeS/decoder/commb.py
@ -23,16 +23,66 @@ MRAR and MHR
 """

 # ELS - elementary surveillance
-from pyModeS.decoder.bds.bds10 import *
-from pyModeS.decoder.bds.bds17 import *
-from pyModeS.decoder.bds.bds20 import *
-from pyModeS.decoder.bds.bds30 import *
+from .bds.bds10 import is10, ovc10
+from .bds.bds17 import is17, cap17
+from .bds.bds20 import is20, cs20
+from .bds.bds30 import is30

 # ELS - enhanced surveillance
-from pyModeS.decoder.bds.bds40 import *
-from pyModeS.decoder.bds.bds50 import *
-from pyModeS.decoder.bds.bds60 import *
+from .bds.bds40 import (
+    is40,
+    selalt40fms,
+    selalt40mcp,
+    p40baro,
+    alt40fms,
+    alt40mcp,
+)
+from .bds.bds50 import is50, roll50, trk50, gs50, rtrk50, tas50
+from .bds.bds60 import is60, hdg60, ias60, mach60, vr60baro, vr60ins

 # MRAR and MHR
-from pyModeS.decoder.bds.bds44 import *
-from pyModeS.decoder.bds.bds45 import *
+from .bds.bds44 import is44, wind44, temp44, p44, hum44, turb44
+from .bds.bds45 import is45, turb45, ws45, mb45, ic45, wv45, temp45, p45, rh45
+
+__all__ = [
+    "is10",
+    "ovc10",
+    "is17",
+    "cap17",
+    "is20",
+    "cs20",
+    "is30",
+    "is40",
+    "selalt40fms",
+    "selalt40mcp",
+    "p40baro",
+    "alt40fms",
+    "alt40mcp",
+    "is50",
+    "roll50",
+    "trk50",
+    "gs50",
+    "rtrk50",
+    "tas50",
+    "is60",
+    "hdg60",
+    "ias60",
+    "mach60",
+    "vr60baro",
+    "vr60ins",
+    "is44",
+    "wind44",
+    "temp44",
+    "p44",
+    "hum44",
+    "turb44",
+    "is45",
+    "turb45",
+    "ws45",
+    "mb45",
+    "ic45",
+    "wv45",
+    "temp45",
+    "p45",
+    "rh45",
+]
--- a/pyModeS/decoder/ehs.py
+++ b/pyModeS/decoder/ehs.py
@ -11,25 +11,56 @@ The EHS wrapper imports all functions from the following modules:

 import warnings

-from pyModeS.decoder.bds.bds40 import *
-from pyModeS.decoder.bds.bds50 import *
-from pyModeS.decoder.bds.bds60 import *
-from pyModeS.decoder.bds import infer
+from .bds.bds40 import (
+    is40,
+    selalt40fms,
+    selalt40mcp,
+    p40baro,
+    alt40fms,
+    alt40mcp,
+)
+from .bds.bds50 import is50, roll50, trk50, gs50, rtrk50, tas50
+from .bds.bds60 import is60, hdg60, ias60, mach60, vr60baro, vr60ins
+from .bds import infer
+
+__all__ = [
+    "is40",
+    "selalt40fms",
+    "selalt40mcp",
+    "p40baro",
+    "alt40fms",
+    "alt40mcp",
+    "is50",
+    "roll50",
+    "trk50",
+    "gs50",
+    "rtrk50",
+    "tas50",
+    "is60",
+    "hdg60",
+    "ias60",
+    "mach60",
+    "vr60baro",
+    "vr60ins",
+    "infer",
+]

 warnings.simplefilter("once", DeprecationWarning)
 warnings.warn(
-    "pms.ehs module is deprecated. Please use pms.commb instead.", DeprecationWarning
+    "pms.ehs module is deprecated. Please use pms.commb instead.",
+    DeprecationWarning,
 )


 def BDS(msg):
    warnings.warn(
-        "pms.ehs.BDS() is deprecated, use pms.bds.infer() instead.", DeprecationWarning
+        "pms.ehs.BDS() is deprecated, use pms.bds.infer() instead.",
+        DeprecationWarning,
    )
    return infer(msg)


 def icao(msg):
-    from pyModeS.decoder.common import icao
+    from . import common

-    return icao(msg)
+    return common.icao(msg)
--- a/pyModeS/decoder/els.py
+++ b/pyModeS/decoder/els.py
@ -10,14 +10,26 @@ The ELS wrapper imports all functions from the following modules:

 """

-from pyModeS.decoder.bds.bds10 import *
-from pyModeS.decoder.bds.bds17 import *
-from pyModeS.decoder.bds.bds20 import *
-from pyModeS.decoder.bds.bds30 import *
-
 import warnings

+from .bds.bds10 import is10, ovc10
+from .bds.bds17 import cap17, is17
+from .bds.bds20 import cs20, is20
+from .bds.bds30 import is30
+
 warnings.simplefilter("once", DeprecationWarning)
 warnings.warn(
-    "pms.els module is deprecated. Please use pms.commb instead.", DeprecationWarning
+    "pms.els module is deprecated. Please use pms.commb instead.",
+    DeprecationWarning,
 )
+
+
+__all__ = [
+    "is10",
+    "ovc10",
+    "is17",
+    "cap17",
+    "is20",
+    "cs20",
+    "is30",
+]
--- a/pyModeS/decoder/flarm/init.py
+++ b/pyModeS/decoder/flarm/init.py
@ -0,0 +1,26 @@
+from typing import TypedDict
+from typing_extensions import Annotated
+
+from .decode import flarm as flarm_decode
+
+__all__ = ["DecodedMessage", "flarm"]
+
+
+class DecodedMessage(TypedDict):
+    timestamp: int
+    icao24: str
+    latitude: float
+    longitude: float
+    altitude: Annotated[int, "m"]
+    vertical_speed: Annotated[float, "m/s"]
+    groundspeed: int
+    track: int
+    type: str
+    sensorLatitude: float
+    sensorLongitude: float
+    isIcao24: bool
+    noTrack: bool
+    stealth: bool
+
+
+flarm = flarm_decode
--- a/pyModeS/decoder/flarm/core.c
+++ b/pyModeS/decoder/flarm/core.c
@ -0,0 +1,124 @@
+#include "core.h"
+
+/*
+ *
+ * https://pastebin.com/YK2f8bfm
+ *
+ * NEW ENCRYPTION
+ *
+ * Swiss glider anti-colission system moved to a new encryption scheme: XXTEA
+ * The algorithm encrypts all the packet after the header: total 20 bytes or 5 long int words of data
+ *
+ * XXTEA description and code are found here: http://en.wikipedia.org/wiki/XXTEA
+ * The system uses 6 iterations of the main loop.
+ *
+ * The system version 6 sends two type of packets: position and ... some unknown data
+ * The difference is made by bit 0 of byte 3 of the packet: for position data this bit is zero.
+ *
+ * For position data the key used depends on the time and transmitting device address.
+ * The key is as well obscured by a weird algorithm.
+ * The code to generate the key is:
+ *
+ * */
+
+void make_key(int *key, long time, long address)
+{
+  const long key1[4] = {0xe43276df, 0xdca83759, 0x9802b8ac, 0x4675a56b};
+  const long key1b[4] = {0xfc78ea65, 0x804b90ea, 0xb76542cd, 0x329dfa32};
+  const long *table = ((((time >> 23) & 255) & 0x01) != 0) ? key1b : key1;
+
+  for (int i = 0; i < 4; i++)
+  {
+    key[i] = obscure(table[i] ^ ((time >> 6) ^ address), 0x045D9F3B) ^ 0x87B562F4;
+  }
+}
+
+long obscure(long key, unsigned long seed)
+{
+  unsigned int m1 = seed * (key ^ (key >> 16));
+  unsigned int m2 = seed * (m1 ^ (m1 >> 16));
+  return m2 ^ (m2 >> 16);
+}
+
+/*
+ * NEW PACKET FORMAT:
+ *
+ * Byte     Bits
+ *  0     AAAA AAAA    device address
+ *  1     AAAA AAAA
+ *  2     AAAA AAAA
+ *  3     00aa 0000    aa = 10 or 01
+ *
+ *  4     vvvv vvvv    vertical speed
+ *  5     xxxx xxvv
+ *  6     gggg gggg    GPS status
+ *  7     tttt gggg    plane type
+ *
+ *  8     LLLL LLLL    Latitude
+ *  9     LLLL LLLL
+ * 10     aaaa aLLL
+ * 11     aaaa aaaa    Altitude
+ *
+ * 12     NNNN NNNN    Longitude
+ * 13     NNNN NNNN
+ * 14     xxxx NNNN
+ * 15     FFxx xxxx    multiplying factor
+ *
+ * 16     SSSS SSSS    as in version 4
+ * 17     ssss ssss
+ * 18     KKKK KKKK
+ * 19     kkkk kkkk
+ *
+ * 20     EEEE EEEE
+ * 21     eeee eeee
+ * 22     PPPP PPPP
+ * 24     pppp pppp
+ * */
+
+/*
+ * https://en.wikipedia.org/wiki/XXTEA
+ */
+
+void btea(uint32_t *v, int n, uint32_t const key[4])
+{
+  uint32_t y, z, sum;
+  unsigned p, rounds, e;
+  if (n > 1)
+  { /* Coding Part */
+    /* Unused, should remove? */
+    rounds = 6 + 52 / n;
+    sum = 0;
+    z = v[n - 1];
+    do
+    {
+      sum += DELTA;
+      e = (sum >> 2) & 3;
+      for (p = 0; p < (unsigned)n - 1; p++)
+      {
+        y = v[p + 1];
+        z = v[p] += MX;
+      }
+      y = v[0];
+      z = v[n - 1] += MX;
+    } while (--rounds);
+  }
+  else if (n < -1)
+  { /* Decoding Part */
+    n = -n;
+    rounds = 6; // + 52 / n;
+    sum = rounds * DELTA;
+    y = v[0];
+    do
+    {
+      e = (sum >> 2) & 3;
+      for (p = n - 1; p > 0; p--)
+      {
+        z = v[p - 1];
+        y = v[p] -= MX;
+      }
+      z = v[n - 1];
+      y = v[0] -= MX;
+      sum -= DELTA;
+    } while (--rounds);
+  }
+}
--- a/pyModeS/decoder/flarm/core.h
+++ b/pyModeS/decoder/flarm/core.h
@ -0,0 +1,13 @@
+#ifndef __CORE_H__
+#define __CORE_H__
+
+#include <stdint.h>
+
+#define DELTA 0x9e3779b9
+#define MX (((z >> 5 ^ y << 2) + (y >> 3 ^ z << 4)) ^ ((sum ^ y) + (key[(p & 3) ^ e] ^ z)))
+
+void make_key(int *key, long time, long address);
+long obscure(long key, unsigned long seed);
+void btea(uint32_t *v, int n, uint32_t const key[4]);
+
+#endif
--- a/pyModeS/decoder/flarm/core.pxd
+++ b/pyModeS/decoder/flarm/core.pxd
@ -0,0 +1,4 @@
+
+cdef extern from "core.h":
+    void make_key(int*, long time, long address)
+    void btea(int*, int, int*)
--- a/pyModeS/decoder/flarm/decode.pyi
+++ b/pyModeS/decoder/flarm/decode.pyi
@ -0,0 +1,14 @@
+from typing import Any
+
+from . import DecodedMessage
+
+AIRCRAFT_TYPES: list[str]
+
+
+def flarm(
+    timestamp: int,
+    msg: str,
+    refLat: float,
+    refLon: float,
+    **kwargs: Any,
+) -> DecodedMessage: ...
--- a/pyModeS/decoder/flarm/decode.pyx
+++ b/pyModeS/decoder/flarm/decode.pyx
@ -0,0 +1,147 @@
+from cpython cimport array
+
+from .core cimport make_key as c_make_key, btea as c_btea
+
+import array
+import math
+from ctypes import c_byte
+from textwrap import wrap
+
+AIRCRAFT_TYPES = [
+    "Unknown",  # 0
+    "Glider",  # 1
+    "Tow-Plane",  # 2
+    "Helicopter",  # 3
+    "Parachute",  # 4
+    "Parachute Drop-Plane",  # 5
+    "Hangglider",  # 6
+    "Paraglider",  # 7
+    "Aircraft",  # 8
+    "Jet",  # 9
+    "UFO",  # 10
+    "Balloon",  # 11
+    "Airship",  # 12
+    "UAV",  # 13
+    "Reserved",  # 14
+    "Static Obstacle",  # 15
+]
+
+cdef long bytearray2int(str icao24):
+    return (
+        (int(icao24[4:6], 16) & 0xFF)
+        | ((int(icao24[2:4], 16) & 0xFF) << 8)
+        | ((int(icao24[:2], 16) & 0xFF) << 16)
+    )
+
+cpdef array.array make_key(long timestamp, str icao24):
+    cdef long addr = bytearray2int(icao24)
+    cdef array.array a = array.array('i', [0, 0, 0, 0])
+    c_make_key(a.data.as_ints, timestamp, (addr << 8) & 0xffffff)
+    return a
+
+cpdef array.array btea(long timestamp, str msg):
+    cdef int p
+    cdef str icao24 = msg[4:6] + msg[2:4] + msg[:2]
+    cdef array.array key = make_key(timestamp, icao24)
+
+    pieces = wrap(msg[8:], 8)
+    cdef array.array toDecode = array.array('i', len(pieces) * [0])
+    for i, piece in enumerate(pieces):
+        p = 0
+        for elt in wrap(piece, 2)[::-1]:
+            p = (p << 8) + int(elt, 16)
+        toDecode[i] = p
+
+    c_btea(toDecode.data.as_ints, -5, key.data.as_ints)
+    return toDecode
+
+cdef float velocity(int ns, int ew):
+    return math.hypot(ew / 4, ns / 4)
+
+def heading(ns, ew, velocity):
+    if velocity < 1e-6:
+        velocity = 1
+    return (math.atan2(ew / velocity / 4, ns / velocity / 4) / 0.01745) % 360
+
+def turningRate(a1, a2):
+    return ((((a2 - a1)) + 540) % 360) - 180
+
+def flarm(long timestamp, str msg, float refLat, float refLon, **kwargs):
+    """Decode a FLARM message.
+
+    Args:
+        timestamp (int)
+        msg (str)
+        refLat (float): the receiver's location
+        refLon (float): the receiver's location
+
+    Returns:
+        a dictionary with all decoded fields. Any extra keyword argument passed
+        is included in the output dictionary.
+    """
+    cdef str icao24 = msg[4:6] + msg[2:4] + msg[:2]
+    cdef int magic = int(msg[6:8], 16)
+
+    if magic != 0x10 and magic != 0x20:
+        return None
+
+    cdef array.array decoded = btea(timestamp, msg)
+
+    cdef int aircraft_type = (decoded[0] >> 28) & 0xF
+    cdef int gps = (decoded[0] >> 16) & 0xFFF
+    cdef int raw_vs = c_byte(decoded[0] & 0x3FF).value
+
+    noTrack = ((decoded[0] >> 14) & 0x1) == 1
+    stealth = ((decoded[0] >> 13) & 0x1) == 1
+
+    cdef int altitude =  (decoded[1] >> 19) & 0x1FFF
+
+    cdef int lat = decoded[1] & 0x7FFFF
+
+    cdef int mult_factor = 1 << ((decoded[2] >> 30) & 0x3)
+    cdef int lon = decoded[2] & 0xFFFFF
+
+    ns = list(
+        c_byte((decoded[3] >> (i * 8)) & 0xFF).value * mult_factor
+        for i in range(4)
+    )
+    ew = list(
+        c_byte((decoded[4] >> (i * 8)) & 0xFF).value * mult_factor
+        for i in range(4)
+    )
+
+    cdef int roundLat = int(refLat * 1e7) >> 7
+    lat = (lat - roundLat) % 0x080000
+    if lat >= 0x040000:
+        lat -= 0x080000
+    lat = (((lat + roundLat) << 7) + 0x40) 
+
+    roundLon = int(refLon * 1e7) >> 7
+    lon = (lon - roundLon) % 0x100000
+    if lon >= 0x080000:
+        lon -= 0x100000
+    lon = (((lon + roundLon) << 7) + 0x40)
+
+    speed = sum(velocity(n, e) for n, e in zip(ns, ew)) / 4
+
+    heading4 = heading(ns[0], ew[0], speed)
+    heading8 = heading(ns[1], ew[1], speed)
+
+    return dict(
+        timestamp=timestamp,
+        icao24=icao24,
+        latitude=lat * 1e-7,
+        longitude=lon * 1e-7,
+        geoaltitude=altitude,
+        vertical_speed=raw_vs * mult_factor / 10,
+        groundspeed=speed,
+        track=heading4 - 4 * turningRate(heading4, heading8) / 4,
+        type=AIRCRAFT_TYPES[aircraft_type],
+        sensorLatitude=refLat,
+        sensorLongitude=refLon,
+        isIcao24=magic==0x10,
+        noTrack=noTrack,
+        stealth=stealth,
+        gps=gps,
+        **kwargs
+    )
--- a/pyModeS/decoder/surv.py
+++ b/pyModeS/decoder/surv.py
@ -1,5 +1,138 @@
 """
-Warpper for short roll call surveillance replies DF=4/5
+Decode short roll call surveillance replies, with downlink format 4 or 5
+"""

-[To be implemented]
-"""
+from __future__ import annotations
+from typing import Callable, TypeVar
+
+from .. import common
+
+T = TypeVar("T")
+F = Callable[[str], T]
+
+
+def _checkdf(func: F[T]) -> F[T]:
+    """Ensure downlink format is 4 or 5."""
+
+    def wrapper(msg: str) -> T:
+        df = common.df(msg)
+        if df not in [4, 5]:
+            raise RuntimeError(
+                "Incorrect downlink format, expect 4 or 5, got {}".format(df)
+            )
+        return func(msg)
+
+    return wrapper
+
+
+@_checkdf
+def fs(msg: str) -> tuple[int, str]:
+    """Decode flight status.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: flight status, description
+
+    """
+    msgbin = common.hex2bin(msg)
+    fs = common.bin2int(msgbin[5:8])
+    text = ""
+
+    if fs == 0:
+        text = "no alert, no SPI, aircraft is airborne"
+    elif fs == 1:
+        text = "no alert, no SPI, aircraft is on-ground"
+    elif fs == 2:
+        text = "alert, no SPI, aircraft is airborne"
+    elif fs == 3:
+        text = "alert, no SPI, aircraft is on-ground"
+    elif fs == 4:
+        text = "alert, SPI, aircraft is airborne or on-ground"
+    elif fs == 5:
+        text = "no alert, SPI, aircraft is airborne or on-ground"
+
+    return fs, text
+
+
+@_checkdf
+def dr(msg: str) -> tuple[int, str]:
+    """Decode downlink request.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: downlink request, description
+
+    """
+    msgbin = common.hex2bin(msg)
+    dr = common.bin2int(msgbin[8:13])
+
+    text = ""
+
+    if dr == 0:
+        text = "no downlink request"
+    elif dr == 1:
+        text = "request to send Comm-B message"
+    elif dr == 4:
+        text = "Comm-B broadcast 1 available"
+    elif dr == 5:
+        text = "Comm-B broadcast 2 available"
+    elif dr >= 16:
+        text = "ELM downlink segments available: {}".format(dr - 15)
+
+    return dr, text
+
+
+@_checkdf
+def um(msg: str) -> tuple[int, int, None | str]:
+    """Decode utility message.
+
+    Utility message contains interrogator identifier and reservation type.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: interrogator identifier code that triggered the reply, and
+        reservation type made by the interrogator
+    """
+    msgbin = common.hex2bin(msg)
+    iis = common.bin2int(msgbin[13:17])
+    ids = common.bin2int(msgbin[17:19])
+    if ids == 0:
+        ids_text = None
+    if ids == 1:
+        ids_text = "Comm-B interrogator identifier code"
+    if ids == 2:
+        ids_text = "Comm-C interrogator identifier code"
+    if ids == 3:
+        ids_text = "Comm-D interrogator identifier code"
+    return iis, ids, ids_text
+
+
+@_checkdf
+def altitude(msg: str) -> None | int:
+    """Decode altitude.
+
+    Args:
+        msg (String): 14 hexdigits string
+
+    Returns:
+        int: altitude in ft
+
+    """
+    return common.altcode(msg)
+
+
+@_checkdf
+def identity(msg: str) -> str:
+    """Decode squawk code.
+
+    Args:
+        msg (String): 14 hexdigits string
+
+    Returns:
+        string: squawk code
+
+    """
+    return common.idcode(msg)
--- a/pyModeS/decoder/uncertainty.py
+++ b/pyModeS/decoder/uncertainty.py
@ -1,8 +1,16 @@
 """Uncertainty parameters.

-See source code at: https://github.com/junzis/pyModeS/blob/master/pyModeS/decoder/uncertainty.py
 """

+from __future__ import annotations
+
+import sys
+
+if sys.version_info < (3, 8):
+    from typing_extensions import TypedDict
+else:
+    from typing import TypedDict
+
 NA = None

 TC_NUCp_lookup = {
@ -26,7 +34,7 @@ TC_NUCp_lookup = {
    22: 0,
 }

-TC_NICv1_lookup = {
+TC_NICv1_lookup: dict[int, int | dict[int, int]] = {
    5: 11,
    6: 10,
    7: 9,
@ -46,7 +54,7 @@ TC_NICv1_lookup = {
    22: 0,
 }

-TC_NICv2_lookup = {
+TC_NICv2_lookup: dict[int, int | dict[int, int]] = {
    5: 11,
    6: 10,
    7: {2: 9, 0: 8},
@ -67,7 +75,13 @@ TC_NICv2_lookup = {
 }


-NUCp = {
+class NUCpEntry(TypedDict):
+    HPL: None | float
+    RCu: None | int
+    RCv: None | int
+
+
+NUCp: dict[int, NUCpEntry] = {
    9: {"HPL": 7.5, "RCu": 3, "RCv": 4},
    8: {"HPL": 25, "RCu": 10, "RCv": 15},
    7: {"HPL": 185, "RCu": 93, "RCv": NA},
@ -80,7 +94,13 @@ NUCp = {
    0: {"HPL": NA, "RCu": NA, "RCv": NA},
 }

-NUCv = {
+
+class NUCvEntry(TypedDict):
+    HVE: None | float
+    VVE: None | float
+
+
+NUCv: dict[int, NUCvEntry] = {
    0: {"HVE": NA, "VVE": NA},
    1: {"HVE": 10, "VVE": 15.2},
    2: {"HVE": 3, "VVE": 4.5},
@ -88,7 +108,13 @@ NUCv = {
    4: {"HVE": 0.3, "VVE": 0.46},
 }

-NACp = {
+
+class NACpEntry(TypedDict):
+    EPU: None | int
+    VEPU: None | int
+
+
+NACp: dict[int, NACpEntry] = {
    11: {"EPU": 3, "VEPU": 4},
    10: {"EPU": 10, "VEPU": 15},
    9: {"EPU": 30, "VEPU": 45},
@ -103,7 +129,13 @@ NACp = {
    0: {"EPU": NA, "VEPU": NA},
 }

-NACv = {
+
+class NACvEntry(TypedDict):
+    HFOMr: None | float
+    VFOMr: None | float
+
+
+NACv: dict[int, NACvEntry] = {
    0: {"HFOMr": NA, "VFOMr": NA},
    1: {"HFOMr": 10, "VFOMr": 15.2},
    2: {"HFOMr": 3, "VFOMr": 4.5},
@ -111,7 +143,13 @@ NACv = {
    4: {"HFOMr": 0.3, "VFOMr": 0.46},
 }

-SIL = {
+
+class SILEntry(TypedDict):
+    PE_RCu: None | float
+    PE_VPL: None | float
+
+
+SIL: dict[int, SILEntry] = {
    3: {"PE_RCu": 1e-7, "PE_VPL": 2e-7},
    2: {"PE_RCu": 1e-5, "PE_VPL": 1e-5},
    1: {"PE_RCu": 1e-3, "PE_VPL": 1e-3},
@ -119,7 +157,12 @@ SIL = {
 }


-NICv1 = {
+class NICv1Entry(TypedDict):
+    Rc: None | float
+    VPL: None | float
+
+
+NICv1: dict[int, dict[int, NICv1Entry]] = {
    # NIC is used as the index at second Level
    11: {0: {"Rc": 7.5, "VPL": 11}},
    10: {0: {"Rc": 25, "VPL": 37.5}},
@ -135,7 +178,12 @@ NICv1 = {
    0: {0: {"Rc": NA, "VPL": NA}},
 }

-NICv2 = {
+
+class NICv2Entry(TypedDict):
+    Rc: None | float
+
+
+NICv2: dict[int, dict[int, NICv2Entry]] = {
    # Decimal value of [NICa NICb/NICc] is used as the index at second Level
    11: {0: {"Rc": 7.5}},
    10: {0: {"Rc": 25}},
--- a/pyModeS/decoder/uplink.py
+++ b/pyModeS/decoder/uplink.py
@ -1,8 +1,10 @@
-from pyModeS import common
+from typing import Optional
+from .. import common
+from textwrap import wrap


-def uplink_icao(msg):
-    """Calculate the ICAO address from a Mode-S interrogation (uplink message)"""
+def uplink_icao(msg: str) -> str:
+    "Calculate the ICAO address from a Mode-S interrogation (uplink message)"
    p_gen = 0xFFFA0480 << ((len(msg) - 14) * 4)
    data = int(msg[:-6], 16)
    PA = int(msg[-6:], 16)
@ -19,7 +21,209 @@ def uplink_icao(msg):
    return "%06X" % (ad >> 2)


-def uf(msg):
+def uf(msg: str) -> int:
    """Decode Uplink Format value, bits 1 to 5."""
    ufbin = common.hex2bin(msg[:2])
    return min(common.bin2int(ufbin[0:5]), 24)
+
+
+def bds(msg: str) -> Optional[str]:
+    "Decode requested BDS register from selective (Roll Call) interrogation."
+    UF = uf(msg)
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+
+    if UF in {4, 5, 20, 21}:
+
+        di = mbytes[1] & 0x7  # DI - Designator Identification
+        RR = mbytes[1] >> 3 & 0x1F
+        if RR > 15:
+            BDS1 = RR - 16
+            if di == 7:
+                RRS = mbytes[2] & 0x0F
+                BDS2 = RRS
+            elif di == 3:
+                RRS = ((mbytes[2] & 0x1) << 3) | ((mbytes[3] & 0xE0) >> 5)
+                BDS2 = RRS
+            else:
+                # for other values of DI, the BDS2 is assumed 0
+                # (as per ICAO Annex 10 Vol IV)
+                BDS2 = 0
+
+            return str(format(BDS1,"X")) + str(format(BDS2,"X"))
+        else:
+            return None
+    else:
+        return None
+
+
+def pr(msg: str) -> Optional[int]:
+    """Decode PR (probability of reply) field from All Call interrogation.
+    Interpretation:
+    0 signifies reply with probability of 1
+    1 signifies reply with probability of 1/2
+    2 signifies reply with probability of 1/4
+    3 signifies reply with probability of 1/8
+    4 signifies reply with probability of 1/16
+    5, 6, 7 not assigned
+    8 signifies disregard lockout, reply with probability of 1
+    9 signifies disregard lockout, reply with probability of 1/2
+    10 signifies disregard lockout, reply with probability of 1/4
+    11 signifies disregard lockout, reply with probability of 1/8
+    12 signifies disregard lockout, reply with probability of 1/16
+    13, 14, 15 not assigned.
+    """
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+    if uf(msg) == 11:
+        return ((mbytes[0] & 0x7) << 1) | ((mbytes[1] & 0x80) >> 7)
+    else:
+        return None
+
+
+def ic(msg: str) -> Optional[str]:
+    """Decode IC (interrogator code) from a ground-based interrogation."""
+
+    UF = uf(msg)
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+    IC = None
+    if UF == 11:
+
+        codeLabel = mbytes[1] & 0x7
+        icField = (mbytes[1] >> 3) & 0xF
+
+        # Store the Interogator Code
+        ic_switcher = {
+            0: "II" + str(icField),
+            1: "SI" + str(icField),
+            2: "SI" + str(icField + 16),
+            3: "SI" + str(icField + 32),
+            4: "SI" + str(icField + 48),
+        }
+        IC = ic_switcher.get(codeLabel, "")
+
+    if UF in {4, 5, 20, 21}:
+        di = mbytes[1] & 0x7
+        RR = mbytes[1] >> 3 & 0x1F
+        if RR > 15:
+            BDS1 = RR - 16  # noqa: F841
+        if di == 0 or di == 1 or di == 7:
+            # II
+            II = (mbytes[2] >> 4) & 0xF
+            IC = "II" + str(II)
+        elif di == 3:
+            # SI
+            SI = (mbytes[2] >> 2) & 0x3F
+            IC = "SI" + str(SI)
+    return IC
+
+
+def lockout(msg):
+    """Decode the lockout command from selective (Roll Call) interrogation."""
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+
+    if uf(msg) in {4, 5, 20, 21}:
+        lockout = False
+        di = mbytes[1] & 0x7
+        if (di == 1 or di == 7):
+            # LOS
+            if ((mbytes[3] & 0x40) >> 6) == 1:
+                lockout = True
+        elif di == 3:
+            # LSS
+            if ((mbytes[2] & 0x2) >> 1) == 1:
+                lockout = True
+        return lockout
+    else:
+        return None
+
+
+def uplink_fields(msg):
+    """Decode individual fields of a ground-based interrogation."""
+    msgbin = common.hex2bin(msg)
+    msgbin_split = wrap(msgbin, 8)
+    mbytes = list(map(common.bin2int, msgbin_split))
+    PR = ""
+    IC = ""
+    lockout = False
+    di = ""
+    RR = ""
+    RRS = ""
+    BDS = ""
+    if uf(msg) == 11:
+
+        # Probability of Reply decoding
+
+        PR = ((mbytes[0] & 0x7) << 1) | ((mbytes[1] & 0x80) >> 7)
+
+        #  Get cl and ic bit fields from the data
+        #  Decode the SI or II interrogator code
+        codeLabel = mbytes[1] & 0x7
+        icField = (mbytes[1] >> 3) & 0xF
+
+        # Store the Interogator Code
+        ic_switcher = {
+            0: "II" + str(icField),
+            1: "SI" + str(icField),
+            2: "SI" + str(icField + 16),
+            3: "SI" + str(icField + 32),
+            4: "SI" + str(icField + 48),
+        }
+        IC = ic_switcher.get(codeLabel, "")
+
+    if uf(msg) in {4, 5, 20, 21}:
+        # Decode the DI and get the lockout information conveniently
+        # (LSS or LOS)
+
+        # DI - Designator Identification
+        di = mbytes[1] & 0x7
+        RR = mbytes[1] >> 3 & 0x1F
+        if RR > 15:
+            BDS1 = RR - 16
+            BDS2 = 0
+        if di == 0:
+            # II
+            II = (mbytes[2] >> 4) & 0xF
+            IC = "II" + str(II)            
+        elif di == 1:
+            # II
+            II = (mbytes[2] >> 4) & 0xF
+            IC = "II" + str(II)
+            if ((mbytes[3] & 0x40) >> 6) == 1:
+                lockout = True        
+        elif di == 7:
+            # LOS
+            if ((mbytes[3] & 0x40) >> 6) == 1:
+                lockout = True
+            # II
+            II = (mbytes[2] >> 4) & 0xF
+            IC = "II" + str(II)
+            RRS = mbytes[2] & 0x0F
+            BDS2 = RRS
+        elif di == 3:
+            # LSS
+            if ((mbytes[2] & 0x2) >> 1) == 1:
+                lockout = True
+            # SI
+            SI = (mbytes[2] >> 2) & 0x3F
+            IC = "SI" + str(SI)
+            RRS = ((mbytes[2] & 0x1) << 3) | ((mbytes[3] & 0xE0) >> 5)
+            BDS2 = RRS
+        if RR > 15:
+            BDS = str(format(BDS1,"X")) + str(format(BDS2,"X"))
+            
+    return {
+        "DI": di,
+        "IC": IC,
+        "LOS": lockout,
+        "PR": PR,
+        "RR": RR,
+        "RRS": RRS,
+        "BDS": BDS,
+    }
--- a/pyModeS/extra/aero.py
+++ b/pyModeS/extra/aero.py
@ -17,7 +17,7 @@ Speed conversion at altitude H[m] in ISA
 ::

    Mach = tas2mach(Vtas,H)    # true airspeed (Vtas) to mach number conversion
-    Vtas = mach2tas(Mach,H)    # true airspeed (Vtas) to mach number conversion
+    Vtas = mach2tas(Mach,H)    # mach number to true airspeed (Vtas) conversion
    Vtas = eas2tas(Veas,H)     # equivalent airspeed to true airspeed, H in [m]
    Veas = tas2eas(Vtas,H)     # true airspeed to equivent airspeed, H in [m]
    Vtas = cas2tas(Vcas,H)     # Vcas  to Vtas conversion both m/s, H in [m]
@ -35,18 +35,18 @@ ft = 0.3048  # ft -> m
 fpm = 0.00508  # ft/min -> m/s
 inch = 0.0254  # inch -> m
 sqft = 0.09290304  # 1 square foot
-nm = 1852.0  # nautical mile -> m
+nm = 1852  # nautical mile -> m
 lbs = 0.453592  # pound -> kg
 g0 = 9.80665  # m/s2, Sea level gravity constant
 R = 287.05287  # m2/(s2 x K), gas constant, sea level ISA
-p0 = 101325.0  # Pa, air pressure, sea level ISA
+p0 = 101325  # Pa, air pressure, sea level ISA
 rho0 = 1.225  # kg/m3, air density, sea level ISA
 T0 = 288.15  # K, temperature, sea level ISA
 gamma = 1.40  # cp/cv for air
 gamma1 = 0.2  # (gamma-1)/2 for air
 gamma2 = 3.5  # gamma/(gamma-1) for air
 beta = -0.0065  # [K/m] ISA temp gradient below tropopause
-r_earth = 6371000.0  # m, average earth radius
+r_earth = 6371000  # m, average earth radius
 a0 = 340.293988  # m/s, sea level speed of sound ISA, sqrt(gamma*R*T0)


@ -94,8 +94,8 @@ def distance(lat1, lon1, lat2, lon2, H=0):
    """

    # phi = 90 - latitude
-    phi1 = np.radians(90.0 - lat1)
-    phi2 = np.radians(90.0 - lat2)
+    phi1 = np.radians(90 - lat1)
+    phi2 = np.radians(90 - lat2)

    # theta = longitude
    theta1 = np.radians(lon1)
@ -158,16 +158,16 @@ def tas2eas(Vtas, H):
 def cas2tas(Vcas, H):
    """Calibrated Airspeed to True Airspeed"""
    p, rho, T = atmos(H)
-    qdyn = p0 * ((1.0 + rho0 * Vcas * Vcas / (7.0 * p0)) ** 3.5 - 1.0)
-    Vtas = np.sqrt(7.0 * p / rho * ((1.0 + qdyn / p) ** (2.0 / 7.0) - 1.0))
+    qdyn = p0 * ((1 + rho0 * Vcas * Vcas / (7 * p0)) ** 3.5 - 1.0)
+    Vtas = np.sqrt(7 * p / rho * ((1 + qdyn / p) ** (2 / 7.0) - 1.0))
    return Vtas


 def tas2cas(Vtas, H):
    """True Airspeed to Calibrated Airspeed"""
    p, rho, T = atmos(H)
-    qdyn = p * ((1.0 + rho * Vtas * Vtas / (7.0 * p)) ** 3.5 - 1.0)
-    Vcas = np.sqrt(7.0 * p0 / rho0 * ((qdyn / p0 + 1.0) ** (2.0 / 7.0) - 1.0))
+    qdyn = p * ((1 + rho * Vtas * Vtas / (7 * p)) ** 3.5 - 1.0)
+    Vcas = np.sqrt(7 * p0 / rho0 * ((qdyn / p0 + 1.0) ** (2 / 7.0) - 1.0))
    return Vcas


--- a/pyModeS/extra/rtlreader.py
+++ b/pyModeS/extra/rtlreader.py
@ -1,8 +1,22 @@
+from __future__ import annotations
+
+import time
 import traceback
 import numpy as np
 import pyModeS as pms
-from rtlsdr import RtlSdr
-import time
+
+from typing import Any
+
+
+import_msg = """
+---------------------------------------------------------------------
+Warning: pyrtlsdr not installed (required for using RTL-SDR devices)!
+---------------------------------------------------------------------"""
+
+try:
+    import rtlsdr  # type: ignore
+except ImportError:
+    print(import_msg)

 sampling_rate = 2e6
 smaples_per_microsec = 2
@ -18,10 +32,10 @@ th_amp_diff = 0.8  # signal amplitude threshold difference between 0 and 1 bit


 class RtlReader(object):
-    def __init__(self, **kwargs):
+    def __init__(self, **kwargs) -> None:
        super(RtlReader, self).__init__()
-        self.signal_buffer = []  # amplitude of the sample only
-        self.sdr = RtlSdr()
+        self.signal_buffer: list[float] = []  # amplitude of the sample only
+        self.sdr = rtlsdr.RtlSdr()
        self.sdr.sample_rate = sampling_rate
        self.sdr.center_freq = modes_frequency
        self.sdr.gain = "auto"
@ -31,7 +45,9 @@ class RtlReader(object):
        self.stop_flag = False
        self.noise_floor = 1e6

-    def _calc_noise(self):
+        self.exception_queue = None
+
+    def _calc_noise(self) -> float:
        """Calculate noise floor"""
        window = smaples_per_microsec * 100
        total_len = len(self.signal_buffer)
@ -42,7 +58,7 @@ class RtlReader(object):
        )
        return min(means)

-    def _process_buffer(self):
+    def _process_buffer(self) -> list[list[Any]]:
        """process raw IQ data in the buffer"""

        # update noise floor
@ -62,17 +78,18 @@ class RtlReader(object):
                i += 1
                continue

-            if self._check_preamble(self.signal_buffer[i : i + pbits * 2]):
-                frame_start = i + pbits * 2
-                frame_end = i + pbits * 2 + (fbits + 1) * 2
+            frame_start = i + pbits * 2
+            if self._check_preamble(self.signal_buffer[i:frame_start]):
                frame_length = (fbits + 1) * 2
+                frame_end = frame_start + frame_length
                frame_pulses = self.signal_buffer[frame_start:frame_end]

                threshold = max(frame_pulses) * 0.2

-                msgbin = []
+                msgbin: list[int] = []
                for j in range(0, frame_length, 2):
-                    p2 = frame_pulses[j : j + 2]
+                    j_2 = j + 2
+                    p2 = frame_pulses[j:j_2]
                    if len(p2) < 2:
                        break

@ -109,7 +126,7 @@ class RtlReader(object):

        return messages

-    def _check_preamble(self, pulses):
+    def _check_preamble(self, pulses) -> bool:
        if len(pulses) != 16:
            return False

@ -119,7 +136,7 @@ class RtlReader(object):

        return True

-    def _check_msg(self, msg):
+    def _check_msg(self, msg) -> bool:
        df = pms.df(msg)
        msglen = len(msg)
        if df == 17 and msglen == 28:
@ -129,8 +146,9 @@ class RtlReader(object):
            return True
        elif df in [4, 5, 11] and msglen == 14:
            return True
+        return False

-    def _debug_msg(self, msg):
+    def _debug_msg(self, msg) -> None:
        df = pms.df(msg)
        msglen = len(msg)
        if df == 17 and msglen == 28:
@ -143,7 +161,7 @@ class RtlReader(object):
            # print("[*]", msg)
            pass

-    def _read_callback(self, data, rtlsdr_obj):
+    def _read_callback(self, data, rtlsdr_obj) -> None:
        amp = np.absolute(data)
        self.signal_buffer.extend(amp.tolist())

@ -151,17 +169,20 @@ class RtlReader(object):
            messages = self._process_buffer()
            self.handle_messages(messages)

-    def handle_messages(self, messages):
+    def handle_messages(self, messages) -> None:
        """re-implement this method to handle the messages"""
        for msg, t in messages:
            # print("%15.9f %s" % (t, msg))
            pass

-    def stop(self, *args, **kwargs):
+    def stop(self, *args, **kwargs) -> None:
        self.sdr.close()

-    def run(self, raw_pipe_in=None, stop_flag=None, exception_queue=None):
+    def run(
+        self, raw_pipe_in=None, stop_flag=None, exception_queue=None
+    ) -> None:
        self.raw_pipe_in = raw_pipe_in
+        self.exception_queue = exception_queue
        self.stop_flag = stop_flag

        try:
@ -173,8 +194,8 @@ class RtlReader(object):

        except Exception as e:
            tb = traceback.format_exc()
-            if exception_queue is not None:
-                exception_queue.put(tb)
+            if self.exception_queue is not None:
+                self.exception_queue.put(tb)
            raise e


--- a/pyModeS/extra/tcpclient.py
+++ b/pyModeS/extra/tcpclient.py
@ -6,11 +6,7 @@ import time
 import pyModeS as pms
 import traceback
 import zmq
-
-if sys.version_info > (3, 0):
-    PY_VERSION = 3
-else:
-    PY_VERSION = 2
+import math


 class TcpClient(object):
@ -28,6 +24,8 @@ class TcpClient(object):
        self.raw_pipe_in = None
        self.stop_flag = False

+        self.exception_queue = None
+
    def connect(self):
        self.socket = zmq.Context().socket(zmq.STREAM)
        self.socket.setsockopt(zmq.LINGER, 0)
@ -35,7 +33,7 @@ class TcpClient(object):
        self.socket.connect("tcp://%s:%s" % (self.host, self.port))

    def stop(self):
-        self.socket.disconnect()
+        self.socket.close()

    def read_raw_buffer(self):
        """ Read raw ADS-B data type.
@ -152,6 +150,103 @@ class TcpClient(object):
            messages.append([msg, ts])
        return messages

+    def read_beast_buffer_rssi_piaware(self):
+        """Handle mode-s beast data type.
+
+        <esc> "1" : 6 byte MLAT timestamp, 1 byte signal level,
+            2 byte Mode-AC
+        <esc> "2" : 6 byte MLAT timestamp, 1 byte signal level,
+            7 byte Mode-S short frame
+        <esc> "3" : 6 byte MLAT timestamp, 1 byte signal level,
+            14 byte Mode-S long frame
+        <esc> "4" : 6 byte MLAT timestamp, status data, DIP switch
+            configuration settings (not on Mode-S Beast classic)
+        <esc><esc>: true 0x1a
+        <esc> is 0x1a, and "1", "2" and "3" are 0x31, 0x32 and 0x33
+
+        timestamp:
+        wiki.modesbeast.com/Radarcape:Firmware_Versions#The_GPS_timestamp
+        """
+        messages_mlat = []
+        msg = []
+        i = 0
+
+        # process the buffer until the last divider <esc> 0x1a
+        # then, reset the self.buffer with the remainder
+
+        while i < len(self.buffer):
+            if self.buffer[i : i + 2] == [0x1A, 0x1A]:
+                msg.append(0x1A)
+                i += 1
+            elif (i == len(self.buffer) - 1) and (self.buffer[i] == 0x1A):
+                # special case where the last bit is 0x1a
+                msg.append(0x1A)
+            elif self.buffer[i] == 0x1A:
+                if i == len(self.buffer) - 1:
+                    # special case where the last bit is 0x1a
+                    msg.append(0x1A)
+                elif len(msg) > 0:
+                    messages_mlat.append(msg)
+                    msg = []
+            else:
+                msg.append(self.buffer[i])
+            i += 1
+
+        # save the reminder for next reading cycle, if not empty
+        if len(msg) > 0:
+            reminder = []
+            for i, m in enumerate(msg):
+                if (m == 0x1A) and (i < len(msg) - 1):
+                    # rewind 0x1a, except when it is at the last bit
+                    reminder.extend([m, m])
+                else:
+                    reminder.append(m)
+            self.buffer = [0x1A] + msg
+        else:
+            self.buffer = []
+
+        # extract messages
+        messages = []
+        for mm in messages_mlat:
+            ts = time.time()
+
+            msgtype = mm[0]
+            # print(''.join('%02X' % i for i in mm))
+
+            if msgtype == 0x32:
+                # Mode-S Short Message, 7 byte, 14-len hexstr
+                msg = "".join("%02X" % i for i in mm[8:15])
+            elif msgtype == 0x33:
+                # Mode-S Long Message, 14 byte, 28-len hexstr
+                msg = "".join("%02X" % i for i in mm[8:22])
+            else:
+                # Other message tupe
+                continue
+
+            if len(msg) not in [14, 28]:
+                continue
+
+            '''
+                we get the raw 0-255 byte value (raw_rssi = mm[7])
+                we scale it to 0.0 - 1.0 (voltage = raw_rssi / 255)
+                we convert it to a dBFS power value (rolling the squaring of the voltage into the dB calculation)
+            '''
+
+            df = pms.df(msg)
+            raw_rssi = mm[7] # eighth byte of Mode-S message should contain RSSI value
+            rssi_ratio = raw_rssi / 255 
+            signalLevel = rssi_ratio ** 2 
+            dbfs_rssi = 10 * math.log10(signalLevel) 
+ 
+            # skip incomplete message
+            if df in [0, 4, 5, 11] and len(msg) != 14:
+                continue
+            if df in [16, 17, 18, 19, 20, 21, 24] and len(msg) != 28:
+                continue
+
+            messages.append([msg, dbfs_rssi, ts])
+        return messages
+
    def read_skysense_buffer(self):
        """Skysense stream format.

@ -255,6 +350,7 @@ class TcpClient(object):

    def run(self, raw_pipe_in=None, stop_flag=None, exception_queue=None):
        self.raw_pipe_in = raw_pipe_in
+        self.exception_queue = exception_queue
        self.stop_flag = stop_flag
        self.connect()

@ -262,9 +358,6 @@ class TcpClient(object):
            try:
                received = [i for i in self.socket.recv(4096)]

-                if PY_VERSION == 2:
-                    received = [ord(i) for i in received]
-
                self.buffer.extend(received)
                # print(''.join(x.encode('hex') for x in self.buffer))

@ -282,9 +375,12 @@ class TcpClient(object):

                # raise RuntimeError("test exception")

+            except zmq.error.Again:
+                continue
            except Exception as e:
                tb = traceback.format_exc()
-                exception_queue.put(tb)
+                if self.exception_queue is not None:
+                    self.exception_queue.put(tb)
                raise e


@ -294,4 +390,7 @@ if __name__ == "__main__":
    port = int(sys.argv[2])
    datatype = sys.argv[3]
    client = TcpClient(host=host, port=port, datatype=datatype)
-    client.run()
+    try:
+        client.run()
+    finally:
+        client.stop()
--- a/pyModeS/py.typed
+++ b/pyModeS/py.typed
--- a/pyModeS/py_common.py
+++ b/pyModeS/py_common.py
@ -1,39 +1,46 @@
+from typing import Optional
+
 import numpy as np
 from textwrap import wrap


-def hex2bin(hexstr):
-    """Convert a hexdecimal string to binary string, with zero fillings."""
+def hex2bin(hexstr: str) -> str:
+    """Convert a hexadecimal string to binary string, with zero fillings."""
    num_of_bits = len(hexstr) * 4
    binstr = bin(int(hexstr, 16))[2:].zfill(int(num_of_bits))
    return binstr


-def hex2int(hexstr):
-    """Convert a hexdecimal string to integer."""
+def hex2int(hexstr: str) -> int:
+    """Convert a hexadecimal string to integer."""
    return int(hexstr, 16)


-def bin2int(binstr):
+def bin2int(binstr: str) -> int:
    """Convert a binary string to integer."""
    return int(binstr, 2)


-def df(msg):
+def bin2hex(binstr: str) -> str:
+    """Convert a binary string to hexadecimal string."""
+    return "{0:X}".format(int(binstr, 2))
+
+
+def df(msg: str) -> int:
    """Decode Downlink Format value, bits 1 to 5."""
    dfbin = hex2bin(msg[:2])
    return min(bin2int(dfbin[0:5]), 24)


-def crc(msg, encode=False):
+def crc(msg: str, encode: bool = False) -> int:
    """Mode-S Cyclic Redundancy Check.

    Detect if bit error occurs in the Mode-S message. When encode option is on,
    the checksum is generated.

    Args:
-        msg (string): 28 bytes hexadecimal message string
-        encode (bool): True to encode the date only and return the checksum
+        msg: 28 bytes hexadecimal message string
+        encode: True to encode the date only and return the checksum
    Returns:
        int: message checksum, or partity bits (encoder)

@ -70,7 +77,7 @@ def crc(msg, encode=False):
    return result


-def crc_legacy(msg, encode=False):
+def crc_legacy(msg: str, encode: bool = False) -> int:
    """Mode-S Cyclic Redundancy Check. (Legacy code, 2x slow)."""
    # the polynominal generattor code for CRC [1111111111111010000001001]
    generator = np.array(
@ -98,7 +105,7 @@ def crc_legacy(msg, encode=False):
    return reminder


-def floor(x):
+def floor(x: float) -> int:
    """Mode-S floor function.

    Defined as the greatest integer value k, such that k <= x
@ -108,7 +115,7 @@ def floor(x):
    return int(np.floor(x))


-def icao(msg):
+def icao(msg: str) -> Optional[str]:
    """Calculate the ICAO address from an Mode-S message.

    Applicable only with DF4, DF5, DF20, DF21 messages.
@ -120,6 +127,7 @@ def icao(msg):
        String: ICAO address in 6 bytes hexadecimal string

    """
+    addr: Optional[str]
    DF = df(msg)

    if DF in (11, 17, 18):
@ -134,7 +142,7 @@ def icao(msg):
    return addr


-def is_icao_assigned(icao):
+def is_icao_assigned(icao: str) -> bool:
    """Check whether the ICAO address is assigned (Annex 10, Vol 3)."""
    if (icao is None) or (not isinstance(icao, str)) or (len(icao) != 6):
        return False
@ -163,7 +171,7 @@ def is_icao_assigned(icao):
    return True


-def typecode(msg):
+def typecode(msg: str) -> Optional[int]:
    """Type code of ADS-B message

    Args:
@ -179,7 +187,7 @@ def typecode(msg):
    return bin2int(tcbin[0:5])


-def cprNL(lat):
+def cprNL(lat: float) -> int:
    """NL() function in CPR decoding."""

    if np.isclose(lat, 0):
@ -191,17 +199,14 @@ def cprNL(lat):

    nz = 15
    a = 1 - np.cos(np.pi / (2 * nz))
-    b = np.cos(np.pi / 180.0 * abs(lat)) ** 2
+    b = np.cos(np.pi / 180 * abs(lat)) ** 2
    nl = 2 * np.pi / (np.arccos(1 - a / b))
    NL = floor(nl)
    return NL


-def idcode(msg):
-    """Compute identity (squawk code).
-
-    Applicable only for DF5 or DF21 messages, bit 20-32.
-    credit: @fbyrkjeland
+def idcode(msg: str) -> str:
+    """Compute identity code (squawk) encoded in DF5 or DF21 message.

    Args:
        msg (String): 28 bytes hexadecimal message string
@ -214,20 +219,37 @@ def idcode(msg):
        raise RuntimeError("Message must be Downlink Format 5 or 21.")

    mbin = hex2bin(msg)
+    idcodebin = mbin[19:32]

-    C1 = mbin[19]
-    A1 = mbin[20]
-    C2 = mbin[21]
-    A2 = mbin[22]
-    C4 = mbin[23]
-    A4 = mbin[24]
-    # _ = mbin[25]
-    B1 = mbin[26]
-    D1 = mbin[27]
-    B2 = mbin[28]
-    D2 = mbin[29]
-    B4 = mbin[30]
-    D4 = mbin[31]
+    return squawk(idcodebin)
+
+
+def squawk(binstr: str) -> str:
+    """Decode 13 bits identity (squawk) code.
+
+    Args:
+        binstr (String): 13 bits binary string
+
+    Returns:
+        string: squawk code
+
+    """
+    if len(binstr) != 13 or not set(binstr).issubset(set("01")):
+        raise RuntimeError("Input must be 13 bits binary string")
+
+    C1 = binstr[0]
+    A1 = binstr[1]
+    C2 = binstr[2]
+    A2 = binstr[3]
+    C4 = binstr[4]
+    A4 = binstr[5]
+    # X = binstr[6]
+    B1 = binstr[7]
+    D1 = binstr[8]
+    B2 = binstr[9]
+    D2 = binstr[10]
+    B4 = binstr[11]
+    D4 = binstr[12]

    byte1 = int(A4 + A2 + A1, 2)
    byte2 = int(B4 + B2 + B1, 2)
@ -237,11 +259,8 @@ def idcode(msg):
    return str(byte1) + str(byte2) + str(byte3) + str(byte4)


-def altcode(msg):
-    """Compute the altitude.
-
-    Applicable only for DF4 or DF20 message, bit 20-32.
-    credit: @fbyrkjeland
+def altcode(msg: str) -> Optional[int]:
+    """Compute altitude encoded in DF4 or DF20 message.

    Args:
        msg (String): 28 bytes hexadecimal message string
@ -250,50 +269,78 @@ def altcode(msg):
        int: altitude in ft

    """
+    alt: Optional[int]
+
    if df(msg) not in [0, 4, 16, 20]:
        raise RuntimeError("Message must be Downlink Format 0, 4, 16, or 20.")

    # Altitude code, bit 20-32
    mbin = hex2bin(msg)

-    mbit = mbin[25]  # M bit: 26
-    qbit = mbin[27]  # Q bit: 28
+    altitude_code = mbin[19:32]

-    if mbit == "0":  # unit in ft
-        if qbit == "1":  # 25ft interval
-            vbin = mbin[19:25] + mbin[26] + mbin[28:32]
+    alt = altitude(altitude_code)
+
+    return alt
+
+
+def altitude(binstr: str) -> Optional[int]:
+    """Decode 13 bits altitude code.
+
+    Args:
+        binstr (String): 13 bits binary string
+
+    Returns:
+        int: altitude in ft
+
+    """
+    alt: Optional[int]
+
+    if len(binstr) != 13 or not set(binstr).issubset(set("01")):
+        raise RuntimeError("Input must be 13 bits binary string")
+
+    Mbit = binstr[6]
+    Qbit = binstr[8]
+
+    if bin2int(binstr) == 0:
+        # altitude unknown or invalid
+        alt = None
+
+    elif Mbit == "0":  # unit in ft
+        if Qbit == "1":  # 25ft interval
+            vbin = binstr[:6] + binstr[7] + binstr[9:]
            alt = bin2int(vbin) * 25 - 1000
-        if qbit == "0":  # 100ft interval, above 50175ft
-            C1 = mbin[19]
-            A1 = mbin[20]
-            C2 = mbin[21]
-            A2 = mbin[22]
-            C4 = mbin[23]
-            A4 = mbin[24]
-            # _ = mbin[25]
-            B1 = mbin[26]
-            # D1 = mbin[27]     # always zero
-            B2 = mbin[28]
-            D2 = mbin[29]
-            B4 = mbin[30]
-            D4 = mbin[31]
+        if Qbit == "0":  # 100ft interval, above 50187.5ft
+            C1 = binstr[0]
+            A1 = binstr[1]
+            C2 = binstr[2]
+            A2 = binstr[3]
+            C4 = binstr[4]
+            A4 = binstr[5]
+            # M = binstr[6]
+            B1 = binstr[7]
+            # Q = binstr[8]
+            B2 = binstr[9]
+            D2 = binstr[10]
+            B4 = binstr[11]
+            D4 = binstr[12]

            graystr = D2 + D4 + A1 + A2 + A4 + B1 + B2 + B4 + C1 + C2 + C4
            alt = gray2alt(graystr)

-    if mbit == "1":  # unit in meter
-        vbin = mbin[19:25] + mbin[26:31]
+    if Mbit == "1":  # unit in meter
+        vbin = binstr[:6] + binstr[7:]
        alt = int(bin2int(vbin) * 3.28084)  # convert to ft

    return alt


-def gray2alt(codestr):
-    gc500 = codestr[:8]
+def gray2alt(binstr: str) -> Optional[int]:
+    gc500 = binstr[:8]
    n500 = gray2int(gc500)

    # in 100-ft step must be converted first
-    gc100 = codestr[8:]
+    gc100 = binstr[8:]
    n100 = gray2int(gc100)

    if n100 in [0, 5, 6]:
@ -309,9 +356,9 @@ def gray2alt(codestr):
    return alt


-def gray2int(graystr):
+def gray2int(binstr: str) -> int:
    """Convert greycode to binary."""
-    num = bin2int(graystr)
+    num = bin2int(binstr)
    num ^= num >> 8
    num ^= num >> 4
    num ^= num >> 2
@ -319,12 +366,12 @@ def gray2int(graystr):
    return num


-def data(msg):
+def data(msg: str) -> str:
    """Return the data frame in the message, bytes 9 to 22."""
    return msg[8:-6]


-def allzeros(msg):
+def allzeros(msg: str) -> bool:
    """Check if the data bits are all zeros.

    Args:
@ -342,7 +389,7 @@ def allzeros(msg):
        return True


-def wrongstatus(data, sb, msb, lsb):
+def wrongstatus(data: str, sb: int, msb: int, lsb: int) -> bool:
    """Check if the status bit and field bits are consistency.

    This Function is used for checking BDS code versions.
@ -357,3 +404,85 @@ def wrongstatus(data, sb, msb, lsb):
            return True

    return False
+
+
+def fs(msg):
+    """Decode flight status for DF 4, 5, 20, and 21.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: flight status, description
+
+    """
+    msgbin = hex2bin(msg)
+    fs = bin2int(msgbin[5:8])
+    text = None
+
+    if fs == 0:
+        text = "no alert, no SPI, aircraft is airborne"
+    elif fs == 1:
+        text = "no alert, no SPI, aircraft is on-ground"
+    elif fs == 2:
+        text = "alert, no SPI, aircraft is airborne"
+    elif fs == 3:
+        text = "alert, no SPI, aircraft is on-ground"
+    elif fs == 4:
+        text = "alert, SPI, aircraft is airborne or on-ground"
+    elif fs == 5:
+        text = "no alert, SPI, aircraft is airborne or on-ground"
+
+    return fs, text
+
+
+def dr(msg):
+    """Decode downlink request for DF 4, 5, 20, and 21.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: downlink request, description
+
+    """
+    msgbin = hex2bin(msg)
+    dr = bin2int(msgbin[8:13])
+
+    text = None
+
+    if dr == 0:
+        text = "no downlink request"
+    elif dr == 1:
+        text = "request to send Comm-B message"
+    elif dr == 4:
+        text = "Comm-B broadcast 1 available"
+    elif dr == 5:
+        text = "Comm-B broadcast 2 available"
+    elif dr >= 16:
+        text = "ELM downlink segments available: {}".format(dr - 15)
+
+    return dr, text
+
+
+def um(msg):
+    """Decode utility message for DF 4, 5, 20, and 21.
+
+    Utility message contains interrogator identifier and reservation type.
+
+    Args:
+        msg (str): 14 hexdigits string
+    Returns:
+        int, str: interrogator identifier code that triggered the reply, and
+        reservation type made by the interrogator
+    """
+    msgbin = hex2bin(msg)
+    iis = bin2int(msgbin[13:17])
+    ids = bin2int(msgbin[17:19])
+    if ids == 0:
+        ids_text = None
+    if ids == 1:
+        ids_text = "Comm-B interrogator identifier code"
+    if ids == 2:
+        ids_text = "Comm-C interrogator identifier code"
+    if ids == 3:
+        ids_text = "Comm-D interrogator identifier code"
+    return iis, ids, ids_text
--- a/pyModeS/streamer/decode.py
+++ b/pyModeS/streamer/decode.py
@ -1,5 +1,6 @@
 import os
 import time
+import traceback
 import datetime
 import csv
 import pyModeS as pms
@ -72,8 +73,15 @@ class Decode:
                    "VFOMr": None,
                    "PE_RCu": None,
                    "PE_VPL": None,
+                    "hum44" : None,
+                    "p44" : None,
+                    "temp44" : None,
+                    "turb44" : None,
+                    "wind44" : None,
                }

+            self.acs[icao]["tc"] = tc
+            self.acs[icao]["icao"] = icao
            self.acs[icao]["t"] = t
            self.acs[icao]["live"] = int(t)

@ -154,7 +162,7 @@ class Decode:
                ac["nic_bc"] = pms.adsb.nic_b(msg)

            if (5 <= tc <= 8) or (9 <= tc <= 18) or (20 <= tc <= 22):
-                ac["HPL"], ac["RCu"], ac["RCv"] = pms.adsb.nuc_p(msg)
+                ac["NUCp"], ac["HPL"], ac["RCu"], ac["RCv"] = pms.adsb.nuc_p(msg)

                if (ac["ver"] == 1) and ("nic_s" in ac.keys()):
                    ac["Rc"], ac["VPL"] = pms.adsb.nic_v1(msg, ac["nic_s"])
@ -163,20 +171,20 @@ class Decode:
                    and ("nic_a" in ac.keys())
                    and ("nic_bc" in ac.keys())
                ):
-                    ac["Rc"] = pms.adsb.nic_v2(msg, ac["nic_a"], ac["nic_bc"])
+                    ac["NIC"], ac["Rc"] = pms.adsb.nic_v2(msg, ac["nic_a"], ac["nic_bc"])

            if tc == 19:
-                ac["HVE"], ac["VVE"] = pms.adsb.nuc_v(msg)
+                ac["NUCv"], ac["HVE"], ac["VVE"] = pms.adsb.nuc_v(msg)
                if ac["ver"] in [1, 2]:
-                    ac["HFOMr"], ac["VFOMr"] = pms.adsb.nac_v(msg)
+                    ac["NACv"], ac["HFOMr"], ac["VFOMr"] = pms.adsb.nac_v(msg)

            if tc == 29:
                ac["PE_RCu"], ac["PE_VPL"], ac["base"] = pms.adsb.sil(msg, ac["ver"])
-                ac["EPU"], ac["VEPU"] = pms.adsb.nac_p(msg)
+                ac["NACp"], ac["HEPU"], ac["VEPU"] = pms.adsb.nac_p(msg)

            if tc == 31:
                ac["ver"] = pms.adsb.version(msg)
-                ac["EPU"], ac["VEPU"] = pms.adsb.nac_p(msg)
+                ac["NACp"], ac["HEPU"], ac["VEPU"] = pms.adsb.nac_p(msg)
                ac["PE_RCu"], ac["PE_VPL"], ac["sil_base"] = pms.adsb.sil(
                    msg, ac["ver"]
                )
@ -193,6 +201,8 @@ class Decode:
            if icao not in self.acs:
                continue

+            self.acs[icao]["icao"] = icao
+            self.acs[icao]["t"] = t
            self.acs[icao]["live"] = int(t)

            bds = pms.bds.infer(msg)
@ -216,8 +226,10 @@ class Decode:
                    output_buffer.append([t, icao, "rtrk50", rtrk50])

                if trk50:
+                    self.acs[icao]["trk50"] = trk50
                    output_buffer.append([t, icao, "trk50", trk50])
                if gs50:
+                    self.acs[icao]["gs50"] = gs50
                    output_buffer.append([t, icao, "gs50", gs50])

            elif bds == "BDS60":
@ -231,16 +243,29 @@ class Decode:
                    self.acs[icao]["t60"] = t
                if ias60:
                    self.acs[icao]["ias"] = ias60
+                    output_buffer.append([t, icao, "ias60", ias60])
                if hdg60:
                    self.acs[icao]["hdg"] = hdg60
+                    output_buffer.append([t, icao, "hdg60", hdg60])
                if mach60:
                    self.acs[icao]["mach"] = mach60
+                    output_buffer.append([t, icao, "mach60", mach60])

                if roc60baro:
+                    self.acs[icao]["roc60baro"] = roc60baro
                    output_buffer.append([t, icao, "roc60baro", roc60baro])
                if roc60ins:
+                    self.acs[icao]["roc60ins"] = roc60ins
                    output_buffer.append([t, icao, "roc60ins", roc60ins])

+            elif bds == "BDS44":
+                if(pms.commb.is44(msg)):
+                    self.acs[icao]["hum44"] = pms.commb.hum44(msg)
+                    self.acs[icao]["p44"] = pms.commb.p44(msg)
+                    self.acs[icao]["temp44"] = pms.commb.temp44(msg)
+                    self.acs[icao]["turb44"] = pms.commb.turb44(msg)
+                    self.acs[icao]["wind44"] = pms.commb.wind44(msg)
+
        # clear up old data
        for icao in list(self.acs.keys()):
            if self.t - self.acs[icao]["live"] > self.cache_timeout:
--- a/pyModeS/streamer/modeslive
+++ b/pyModeS/streamer/modeslive
@ -1,154 +0,0 @@
-#!/usr/bin/env python
-
-import os
-import sys
-import time
-import argparse
-import curses
-import signal
-import multiprocessing
-from pyModeS.streamer.decode import Decode
-from pyModeS.streamer.screen import Screen
-from pyModeS.streamer.source import NetSource, RtlSdrSource
-
-
-# redirect all stdout to null, avoiding messing up with the screen
-sys.stdout = open(os.devnull, "w")
-
-support_rawtypes = ["raw", "beast", "skysense"]
-
-parser = argparse.ArgumentParser()
-parser.add_argument(
-    "--source",
-    help='Choose data source, "rtlsdr" or "net"',
-    required=True,
-    default="net",
-)
-parser.add_argument(
-    "--connect",
-    help="Define server, port and data type. Supported data types are: %s"
-    % support_rawtypes,
-    nargs=3,
-    metavar=("SERVER", "PORT", "DATATYPE"),
-    default=None,
-    required=False,
-)
-parser.add_argument(
-    "--latlon",
-    help="Receiver latitude and longitude, needed for the surface position, default none",
-    nargs=2,
-    metavar=("LAT", "LON"),
-    default=None,
-    required=False,
-)
-parser.add_argument(
-    "--show-uncertainty",
-    dest="uncertainty",
-    help="Display uncertainty values, default off",
-    action="store_true",
-    required=False,
-    default=False,
-)
-parser.add_argument(
-    "--dumpto",
-    help="Folder to dump decoded output, default none",
-    required=False,
-    default=None,
-)
-args = parser.parse_args()
-
-SOURCE = args.source
-LATLON = args.latlon
-UNCERTAINTY = args.uncertainty
-DUMPTO = args.dumpto
-
-if SOURCE == "rtlsdr":
-    pass
-elif SOURCE == "net":
-    if args.connect is None:
-        print("Error: --connect argument must not be empty.")
-    else:
-        SERVER, PORT, DATATYPE = args.connect
-        if DATATYPE not in support_rawtypes:
-            print("Data type not supported, available ones are %s" % support_rawtypes)
-
-else:
-    print('Source must be "rtlsdr" or "net".')
-    sys.exit(1)
-
-if DUMPTO is not None:
-    # append to current folder except root is given
-    if DUMPTO[0] != "/":
-        DUMPTO = os.getcwd() + "/" + DUMPTO
-
-    if not os.path.isdir(DUMPTO):
-        print("Error: dump folder (%s) does not exist" % DUMPTO)
-        sys.exit(1)
-
-
-raw_pipe_in, raw_pipe_out = multiprocessing.Pipe()
-ac_pipe_in, ac_pipe_out = multiprocessing.Pipe()
-exception_queue = multiprocessing.Queue()
-stop_flag = multiprocessing.Value("b", False)
-
-if SOURCE == "net":
-    source = NetSource(host=SERVER, port=PORT, rawtype=DATATYPE)
-elif SOURCE == "rtlsdr":
-    source = RtlSdrSource()
-
-
-recv_process = multiprocessing.Process(
-    target=source.run, args=(raw_pipe_in, stop_flag, exception_queue)
-)
-
-
-decode = Decode(latlon=LATLON, dumpto=DUMPTO)
-decode_process = multiprocessing.Process(
-    target=decode.run, args=(raw_pipe_out, ac_pipe_in, exception_queue)
-)
-
-screen = Screen(uncertainty=UNCERTAINTY)
-screen_process = multiprocessing.Process(
-    target=screen.run, args=(ac_pipe_out, exception_queue)
-)
-
-
-def shutdown():
-    stop_flag.value = True
-    curses.endwin()
-    sys.stdout = sys.__stdout__
-    recv_process.terminate()
-    decode_process.terminate()
-    screen_process.terminate()
-    recv_process.join()
-    decode_process.join()
-    screen_process.join()
-
-
-def closeall(signal, frame):
-    print("KeyboardInterrupt (ID: {}). Cleaning up...".format(signal))
-    shutdown()
-    sys.exit(0)
-
-
-signal.signal(signal.SIGINT, closeall)
-
-recv_process.start()
-decode_process.start()
-screen_process.start()
-
-
-while True:
-    if (
-        (not recv_process.is_alive())
-        or (not decode_process.is_alive())
-        or (not screen_process.is_alive())
-    ):
-        shutdown()
-        while not exception_queue.empty():
-            trackback = exception_queue.get()
-            print(trackback)
-
-        sys.exit(1)
-
-    time.sleep(0.01)
--- a/pyModeS/streamer/modeslive.py
+++ b/pyModeS/streamer/modeslive.py
@ -0,0 +1,155 @@
+#!/usr/bin/env python
+
+import os
+import sys
+import time
+import argparse
+import curses
+import signal
+import multiprocessing
+from pyModeS.streamer.decode import Decode
+from pyModeS.streamer.screen import Screen
+from pyModeS.streamer.source import NetSource, RtlSdrSource  # , RtlSdrSource24
+
+
+def main():
+
+    support_rawtypes = ["raw", "beast", "skysense"]
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--source",
+        help='Choose data source, "rtlsdr", "rtlsdr24" or "net"',
+        required=True,
+        default="net",
+    )
+    parser.add_argument(
+        "--connect",
+        help="Define server, port and data type. Supported data types are: {}".format(
+            support_rawtypes
+        ),
+        nargs=3,
+        metavar=("SERVER", "PORT", "DATATYPE"),
+        default=None,
+        required=False,
+    )
+    parser.add_argument(
+        "--latlon",
+        help="Receiver latitude and longitude, needed for the surface position, default none",
+        nargs=2,
+        metavar=("LAT", "LON"),
+        default=None,
+        required=False,
+    )
+    parser.add_argument(
+        "--show-uncertainty",
+        dest="uncertainty",
+        help="Display uncertainty values, default off",
+        action="store_true",
+        required=False,
+        default=False,
+    )
+    parser.add_argument(
+        "--dumpto",
+        help="Folder to dump decoded output, default none",
+        required=False,
+        default=None,
+    )
+    args = parser.parse_args()
+
+    SOURCE = args.source
+    LATLON = args.latlon
+    UNCERTAINTY = args.uncertainty
+    DUMPTO = args.dumpto
+
+    if SOURCE in ["rtlsdr", "rtlsdr24"]:
+        pass
+    elif SOURCE == "net":
+        if args.connect is None:
+            print("Error: --connect argument must not be empty.")
+        else:
+            SERVER, PORT, DATATYPE = args.connect
+            if DATATYPE not in support_rawtypes:
+                print(
+                    "Data type not supported, available ones are %s"
+                    % support_rawtypes
+                )
+
+    else:
+        print('Source must be "rtlsdr" or "net".')
+        sys.exit(1)
+
+    if DUMPTO is not None:
+        # append to current folder except root is given
+        if DUMPTO[0] != "/":
+            DUMPTO = os.getcwd() + "/" + DUMPTO
+
+        if not os.path.isdir(DUMPTO):
+            print("Error: dump folder (%s) does not exist" % DUMPTO)
+            sys.exit(1)
+
+    # redirect all stdout to null, avoiding messing up with the screen
+    sys.stdout = open(os.devnull, "w")
+
+    raw_pipe_in, raw_pipe_out = multiprocessing.Pipe()
+    ac_pipe_in, ac_pipe_out = multiprocessing.Pipe()
+    exception_queue = multiprocessing.Queue()
+    stop_flag = multiprocessing.Value("b", False)
+
+    if SOURCE == "net":
+        source = NetSource(host=SERVER, port=PORT, rawtype=DATATYPE)
+    elif SOURCE == "rtlsdr":
+        source = RtlSdrSource()
+    # elif SOURCE == "rtlsdr24":
+    #     source = RtlSdrSource24()
+
+    recv_process = multiprocessing.Process(
+        target=source.run, args=(raw_pipe_in, stop_flag, exception_queue)
+    )
+
+    decode = Decode(latlon=LATLON, dumpto=DUMPTO)
+    decode_process = multiprocessing.Process(
+        target=decode.run, args=(raw_pipe_out, ac_pipe_in, exception_queue)
+    )
+
+    screen = Screen(uncertainty=UNCERTAINTY)
+    screen_process = multiprocessing.Process(
+        target=screen.run, args=(ac_pipe_out, exception_queue)
+    )
+
+    def shutdown():
+        stop_flag.value = True
+        curses.endwin()
+        sys.stdout = sys.__stdout__
+        recv_process.terminate()
+        decode_process.terminate()
+        screen_process.terminate()
+        recv_process.join()
+        decode_process.join()
+        screen_process.join()
+
+    def closeall(signal, frame):
+        print("KeyboardInterrupt (ID: {}). Cleaning up...".format(signal))
+        shutdown()
+        sys.exit(0)
+
+    signal.signal(signal.SIGINT, closeall)
+
+    recv_process.start()
+    decode_process.start()
+    screen_process.start()
+
+    while True:
+        if (
+            (not recv_process.is_alive())
+            or (not decode_process.is_alive())
+            or (not screen_process.is_alive())
+        ):
+            shutdown()
+            while not exception_queue.empty():
+                trackback = exception_queue.get()
+                print(trackback)
+
+            sys.exit(1)
+
+        time.sleep(0.01)
--- a/pyproject.toml
+++ b/pyproject.toml
@ -0,0 +1,60 @@
+[tool.poetry]
+name = "pyModeS"
+version = "2.18"
+description = "Python Mode-S and ADS-B Decoder"
+authors = ["Junzi Sun <j.sun-1@tudelft.nl>"]
+license = "GNU GPL v3"
+readme = "README.rst"
+classifiers = [
+    "Development Status :: 4 - Beta",
+    "Intended Audience :: Developers",
+    "Topic :: Software Development :: Libraries",
+    "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
+    "Programming Language :: Python :: 3",
+    "Typing :: Typed",
+]
+packages = [{ include = "pyModeS", from = "." }]
+include = [
+    "LICENSE",
+    "*.pyx",
+    "*.pxd",
+    "*.pyi",
+    "py.typed",
+    { path = "pyModeS/**/*.so", format = "wheel" },
+    { path = "pyModeS/**/*.pyd", format = "wheel" },
+]
+build = "build.py"
+
+[tool.poetry.scripts]
+modeslive = "pyModeS.streamer.modeslive:main"
+
+[tool.poetry.dependencies]
+python = ">=3.9"
+numpy = ">=1.26"
+pyzmq = ">=24.0"
+pyrtlsdr = { version = ">=0.2.93", optional = true }
+
+[tool.poetry.group.dev.dependencies]
+mypy = ">=0.991"
+flake8 = ">=5.0.0"
+black = ">=22.12.0"
+isort = ">=5.11.4"
+pytest = ">=7.2.0"
+pytest-cov = ">=4.0.0"
+codecov = ">=2.1.12"
+
+[tool.poetry.extras]
+rtlsdr = ["pyrtlsdr"]
+
+[tool.black]
+line-length = 80
+target_version = ['py39', 'py310', 'py311', 'py312']
+include = '\.pyi?$'
+
+[tool.isort]
+line_length = 80
+profile = "black"
+
+[build-system]
+requires = ["poetry-core>=1.0.0", "Cython>=0.29.32", "setuptools>=69.1.1"]
+build-backend = "poetry.core.masonry.api"
--- a/setup.py
+++ b/setup.py
@ -1,109 +0,0 @@
-"""A setuptools based setup module.
-
-See:
-https://packaging.python.org/en/latest/distributing.html
-https://github.com/pypa/sampleproject
-
-Steps for deploying a new version:
-1. Increase the version number
-2. remove the old deployment under [dist] and [build] folder
-3. run: python setup.py sdist
-   run: python setup.py bdist_wheel --universal
-4. twine upload dist/*
-"""
-
-# Always prefer setuptools over distutils
-from setuptools import setup, find_packages
-
-# Compile some parts
-from setuptools.extension import Extension
-from Cython.Build import cythonize
-
-extensions = [Extension("pyModeS.c_common", ["pyModeS/c_common.pyx"])]
-
-
-# To use a consistent encoding
-from codecs import open
-from os import path
-
-here = path.abspath(path.dirname(__file__))
-
-# Get the long description from the README file
-with open(path.join(here, "README.rst"), encoding="utf-8") as f:
-    long_description = f.read()
-
-setup(
-    name="pyModeS",
-    # Versions should comply with PEP440.  For a discussion on single-sourcing
-    # the version across setup.py and the project code, see
-    # https://packaging.python.org/en/latest/single_source_version.html
-    version="2.5",
-    description="Python Mode-S and ADS-B Decoder",
-    long_description=long_description,
-    # The project's main homepage.
-    url="https://github.com/junzis/pyModeS",
-    # Author details
-    author="Junzi Sun",
-    author_email="j.sun-1@tudelft.nl",
-    # Choose your license
-    license="GNU GPL v3",
-    # See https://pypi.python.org/pypi?%3Aaction=list_classifiers
-    classifiers=[
-        # How mature is this project? Common values are
-        #   3 - Alpha
-        #   4 - Beta
-        #   5 - Production/Stable
-        "Development Status :: 4 - Beta",
-        # Indicate who your project is intended for
-        "Intended Audience :: Developers",
-        "Topic :: Software Development :: Libraries",
-        # Pick your license as you wish (should match "license" above)
-        "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
-        # Specify the Python versions you support here. In particular, ensure
-        # that you indicate whether you support Python 2, Python 3 or both.
-        # "Programming Language :: Python :: 2",
-        "Programming Language :: Python :: 3",
-    ],
-    ext_modules=cythonize(extensions),
-    # What does your project relate to?
-    keywords="Mode-S ADS-B EHS ELS Comm-B",
-    # You can just specify the packages manually here if your project is
-    # simple. Or you can use find_packages().
-    packages=find_packages(exclude=["contrib", "docs", "tests"]),
-    # Alternatively, if you want to distribute just a my_module.py, uncomment
-    # this:
-    #   py_modules=["my_module"],
-    # List run-time dependencies here.  These will be installed by pip when
-    # your project is installed. For an analysis of "install_requires" vs pip's
-    # requirements files see:
-    # https://packaging.python.org/en/latest/requirements.html
-    install_requires=["numpy", "pyzmq", "pyrtlsdr"],
-    # List additional groups of dependencies here (e.g. development
-    # dependencies). You can install these using the following syntax,
-    # for example:
-    # $ pip install -e .[dev,test]
-    # extras_require={
-    #     'dev': ['check-manifest'],
-    #     'test': ['coverage'],
-    # },
-    # If there are data files included in your packages that need to be
-    # installed, specify them here.  If using Python 2.6 or less, then these
-    # have to be included in MANIFEST.in as well.
-    # package_data={
-    #     'sample': ['package_data.dat'],
-    # },
-    # Although 'package_data' is the preferred approach, in some case you may
-    # need to place data files outside of your packages. See:
-    # http://docs.python.org/3.4/distutils/setupscript.html#installing-additional-files # noqa
-    # In this case, 'data_file' will be installed into '<sys.prefix>/my_data'
-    # data_files=[('my_data', ['data/data_file'])],
-    # To provide executable scripts, use entry points in preference to the
-    # "scripts" keyword. Entry points provide cross-platform support and allow
-    # pip to create the appropriate form of executable for the target platform.
-    # entry_points={
-    #     'console_scripts': [
-    #         'sample=sample:main',
-    #     ],
-    # },
-    scripts=["pyModeS/streamer/modeslive"],
-)
--- a/tests/sample_run_adsb.py
+++ b/tests/sample_run_adsb.py
@ -1,11 +1,7 @@
-import sys
-import time
 import csv
+import time

-if len(sys.argv) > 1 and sys.argv[1] == "cython":
-    from pyModeS.c_decoder import adsb
-else:
-    from pyModeS.decoder import adsb
+from pyModeS.decoder import adsb

 print("===== Decode ADS-B sample data=====")

--- a/tests/sample_run_commb.py
+++ b/tests/sample_run_commb.py
@ -46,7 +46,7 @@ def bds_info(BDS, m):
        )

    else:
-        info = None
+        info = []

    return info

@ -87,5 +87,5 @@ def commb_decode_all(df, n=None):


 if __name__ == "__main__":
-    commb_decode_all(df=20, n=100)
-    commb_decode_all(df=21, n=100)
+    commb_decode_all(df=20, n=500)
+    commb_decode_all(df=21, n=500)
--- a/tests/test_adsb.py
+++ b/tests/test_adsb.py
@ -1,4 +1,5 @@
 from pyModeS import adsb
+from pytest import approx

 # === TEST ADS-B package ===

@ -22,7 +23,7 @@ def test_adsb_position():
        1446332400,
        1446332405,
    )
-    assert pos == (49.81755, 6.08442)
+    assert pos == (approx(49.81755, 0.001), approx(6.08442, 0.001))


 def test_adsb_position_swap_odd_even():
@ -32,26 +33,32 @@ def test_adsb_position_swap_odd_even():
        1446332405,
        1446332400,
    )
-    assert pos == (49.81755, 6.08442)
+    assert pos == (approx(49.81755, 0.001), approx(6.08442, 0.001))


 def test_adsb_position_with_ref():
    pos = adsb.position_with_ref("8D40058B58C901375147EFD09357", 49.0, 6.0)
-    assert pos == (49.82410, 6.06785)
+    assert pos == (approx(49.82410, 0.001), approx(6.06785, 0.001))
    pos = adsb.position_with_ref("8FC8200A3AB8F5F893096B000000", -43.5, 172.5)
-    assert pos == (-43.48564, 172.53942)
+    assert pos == (approx(-43.48564, 0.001), approx(172.53942, 0.001))


 def test_adsb_airborne_position_with_ref():
-    pos = adsb.airborne_position_with_ref("8D40058B58C901375147EFD09357", 49.0, 6.0)
-    assert pos == (49.82410, 6.06785)
-    pos = adsb.airborne_position_with_ref("8D40058B58C904A87F402D3B8C59", 49.0, 6.0)
-    assert pos == (49.81755, 6.08442)
+    pos = adsb.airborne_position_with_ref(
+        "8D40058B58C901375147EFD09357", 49.0, 6.0
+    )
+    assert pos == (approx(49.82410, 0.001), approx(6.06785, 0.001))
+    pos = adsb.airborne_position_with_ref(
+        "8D40058B58C904A87F402D3B8C59", 49.0, 6.0
+    )
+    assert pos == (approx(49.81755, 0.001), approx(6.08442, 0.001))


 def test_adsb_surface_position_with_ref():
-    pos = adsb.surface_position_with_ref("8FC8200A3AB8F5F893096B000000", -43.5, 172.5)
-    assert pos == (-43.48564, 172.53942)
+    pos = adsb.surface_position_with_ref(
+        "8FC8200A3AB8F5F893096B000000", -43.5, 172.5
+    )
+    assert pos == (approx(-43.48564, 0.001), approx(172.53942, 0.001))


 def test_adsb_surface_position():
@ -63,7 +70,7 @@ def test_adsb_surface_position():
        -43.496,
        172.558,
    )
-    assert pos == (-43.48564, 172.53942)
+    assert pos == (approx(-43.48564, 0.001), approx(172.53942, 0.001))


 def test_adsb_alt():
@ -74,12 +81,33 @@ def test_adsb_velocity():
    vgs = adsb.velocity("8D485020994409940838175B284F")
    vas = adsb.velocity("8DA05F219B06B6AF189400CBC33F")
    vgs_surface = adsb.velocity("8FC8200A3AB8F5F893096B000000")
-    assert vgs == (159, 182.88, -832, "GS")
-    assert vas == (375, 243.98, -2304, "TAS")
-    assert vgs_surface == (19.0, 42.2, 0, "GS")
+    assert vgs == (159, approx(182.88, 0.1), -832, "GS")
+    assert vas == (375, approx(243.98, 0.1), -2304, "TAS")
+    assert vgs_surface == (19, approx(42.2, 0.1), 0, "GS")
    assert adsb.altitude_diff("8D485020994409940838175B284F") == 550


+def test_adsb_emergency():
+    assert not adsb.is_emergency("8DA2C1B6E112B600000000760759")
+    assert adsb.emergency_state("8DA2C1B6E112B600000000760759") == 0
+    assert adsb.emergency_squawk("8DA2C1B6E112B600000000760759") == "6513"
+
+
+def test_adsb_target_state_status():
+    sel_alt = adsb.selected_altitude("8DA05629EA21485CBF3F8CADAEEB")
+    assert sel_alt == (16992, "MCP/FCU")
+    assert adsb.baro_pressure_setting("8DA05629EA21485CBF3F8CADAEEB") == 1012.8
+    assert adsb.selected_heading("8DA05629EA21485CBF3F8CADAEEB") == approx(
+        66.8, 0.1
+    )
+    assert adsb.autopilot("8DA05629EA21485CBF3F8CADAEEB") is True
+    assert adsb.vnav_mode("8DA05629EA21485CBF3F8CADAEEB") is True
+    assert adsb.altitude_hold_mode("8DA05629EA21485CBF3F8CADAEEB") is False
+    assert adsb.approach_mode("8DA05629EA21485CBF3F8CADAEEB") is False
+    assert adsb.tcas_operational("8DA05629EA21485CBF3F8CADAEEB") is True
+    assert adsb.lnav_mode("8DA05629EA21485CBF3F8CADAEEB") is True
+
+
 # def test_nic():
 #     assert adsb.nic('8D3C70A390AB11F55B8C57F65FE6') == 0
 #     assert adsb.nic('8DE1C9738A4A430B427D219C8225') == 1
--- a/tests/test_allcall.py
+++ b/tests/test_allcall.py
@ -0,0 +1,13 @@
+from pyModeS import allcall
+
+
+def test_icao():
+    assert allcall.icao("5D484FDEA248F5") == "484FDE"
+
+
+def test_interrogator():
+    assert allcall.interrogator("5D484FDEA248F5") == "SI6"
+
+
+def test_capability():
+    assert allcall.capability("5D484FDEA248F5")[0] == 5
--- a/tests/test_bds_inference.py
+++ b/tests/test_bds_inference.py
@ -1,6 +1,12 @@
+import sys
+
+import pytest
 from pyModeS import bds

-
+# this one fails on GitHub action for some unknown reason
+# it looks successful on other Windows instances though
+# TODO fix later
+@pytest.mark.skipif(sys.platform == "win32", reason="GitHub Action")
 def test_bds_infer():
    assert bds.infer("8D406B902015A678D4D220AA4BDA") == "BDS08"
    assert bds.infer("8FC8200A3AB8F5F893096B000000") == "BDS06"
@ -17,8 +23,8 @@ def test_bds_infer():

 def test_bds_is50or60():
    assert bds.is50or60("A0001838201584F23468207CDFA5", 0, 0, 0) == None
-    assert bds.is50or60("A0000000FFDA9517000464000000", 182, 237, 1250) == "BDS50"
-    assert bds.is50or60("A0000000919A5927E23444000000", 413, 54, 18700) == "BDS60"
+    assert bds.is50or60("A8001EBCFFFB23286004A73F6A5B", 320, 250, 14000) == "BDS50"
+    assert bds.is50or60("A8001EBCFE1B29287FDCA807BCFC", 320, 250, 14000) == "BDS50"


 def test_surface_position():
--- a/tests/test_c_common.py
+++ b/tests/test_c_common.py
@ -1,57 +1,59 @@
 try:
-    from pyModeS.decoder import c_common as common
+    from pyModeS import c_common

    def test_conversions():
-        assert common.hex2bin("6E406B") == "011011100100000001101011"
+        assert c_common.hex2bin("6E") == "01101110"
+        assert c_common.bin2hex("01101110") == "6E"
+        assert c_common.bin2hex("1101110") == "6E"

    def test_crc_decode():

-        assert common.crc("8D406B902015A678D4D220AA4BDA") == 0
-        assert common.crc("8d8960ed58bf053cf11bc5932b7d") == 0
-        assert common.crc("8d45cab390c39509496ca9a32912") == 0
-        assert common.crc("8d74802958c904e6ef4ba0184d5c") == 0
-        assert common.crc("8d4400cd9b0000b4f87000e71a10") == 0
-        assert common.crc("8d4065de58a1054a7ef0218e226a") == 0
+        assert c_common.crc("8D406B902015A678D4D220AA4BDA") == 0
+        assert c_common.crc("8d8960ed58bf053cf11bc5932b7d") == 0
+        assert c_common.crc("8d45cab390c39509496ca9a32912") == 0
+        assert c_common.crc("8d74802958c904e6ef4ba0184d5c") == 0
+        assert c_common.crc("8d4400cd9b0000b4f87000e71a10") == 0
+        assert c_common.crc("8d4065de58a1054a7ef0218e226a") == 0

-        assert common.crc("c80b2dca34aa21dd821a04cb64d4") == 10719924
-        assert common.crc("a800089d8094e33a6004e4b8a522") == 4805588
-        assert common.crc("a8000614a50b6d32bed000bbe0ed") == 5659991
-        assert common.crc("a0000410bc900010a40000f5f477") == 11727682
-        assert common.crc("8d4ca251204994b1c36e60a5343d") == 16
-        assert common.crc("b0001718c65632b0a82040715b65") == 353333
+        assert c_common.crc("c80b2dca34aa21dd821a04cb64d4") == 10719924
+        assert c_common.crc("a800089d8094e33a6004e4b8a522") == 4805588
+        assert c_common.crc("a8000614a50b6d32bed000bbe0ed") == 5659991
+        assert c_common.crc("a0000410bc900010a40000f5f477") == 11727682
+        assert c_common.crc("8d4ca251204994b1c36e60a5343d") == 16
+        assert c_common.crc("b0001718c65632b0a82040715b65") == 353333

    def test_crc_encode():
-        parity = common.crc("8D406B902015A678D4D220AA4BDA", encode=True)
+        parity = c_common.crc("8D406B902015A678D4D220AA4BDA", encode=True)
        assert parity == 11160538

    def test_icao():
-        assert common.icao("8D406B902015A678D4D220AA4BDA") == "406B90"
-        assert common.icao("A0001839CA3800315800007448D9") == "400940"
-        assert common.icao("A000139381951536E024D4CCF6B5") == "3C4DD2"
-        assert common.icao("A000029CFFBAA11E2004727281F1") == "4243D0"
+        assert c_common.icao("8D406B902015A678D4D220AA4BDA") == "406B90"
+        assert c_common.icao("A0001839CA3800315800007448D9") == "400940"
+        assert c_common.icao("A000139381951536E024D4CCF6B5") == "3C4DD2"
+        assert c_common.icao("A000029CFFBAA11E2004727281F1") == "4243D0"

    def test_modes_altcode():
-        assert common.altcode("A02014B400000000000000F9D514") == 32300
+        assert c_common.altcode("A02014B400000000000000F9D514") == 32300

    def test_modes_idcode():
-        assert common.idcode("A800292DFFBBA9383FFCEB903D01") == "1346"
+        assert c_common.idcode("A800292DFFBBA9383FFCEB903D01") == "1346"

    def test_graycode_to_altitude():
-        assert common.gray2alt("00000000010") == -1000
-        assert common.gray2alt("00000001010") == -500
-        assert common.gray2alt("00000011011") == -100
-        assert common.gray2alt("00000011010") == 0
-        assert common.gray2alt("00000011110") == 100
-        assert common.gray2alt("00000010011") == 600
-        assert common.gray2alt("00000110010") == 1000
-        assert common.gray2alt("00001001001") == 5800
-        assert common.gray2alt("00011100100") == 10300
-        assert common.gray2alt("01100011010") == 32000
-        assert common.gray2alt("01110000100") == 46300
-        assert common.gray2alt("01010101100") == 50200
-        assert common.gray2alt("11011110100") == 73200
-        assert common.gray2alt("10000000011") == 126600
-        assert common.gray2alt("10000000001") == 126700
+        assert c_common.gray2alt("00000000010") == -1000
+        assert c_common.gray2alt("00000001010") == -500
+        assert c_common.gray2alt("00000011011") == -100
+        assert c_common.gray2alt("00000011010") == 0
+        assert c_common.gray2alt("00000011110") == 100
+        assert c_common.gray2alt("00000010011") == 600
+        assert c_common.gray2alt("00000110010") == 1000
+        assert c_common.gray2alt("00001001001") == 5800
+        assert c_common.gray2alt("00011100100") == 10300
+        assert c_common.gray2alt("01100011010") == 32000
+        assert c_common.gray2alt("01110000100") == 46300
+        assert c_common.gray2alt("01010101100") == 50200
+        assert c_common.gray2alt("11011110100") == 73200
+        assert c_common.gray2alt("10000000011") == 126600
+        assert c_common.gray2alt("10000000001") == 126700


 except:
--- a/tests/test_commb.py
+++ b/tests/test_commb.py
@ -1,4 +1,5 @@
 from pyModeS import bds, commb
+from pytest import approx

 # from pyModeS import ehs, els    # deprecated

@ -22,30 +23,24 @@ def test_bds40_functions():


 def test_bds50_functions():
-    assert bds.bds50.roll50("A000139381951536E024D4CCF6B5") == 2.1
-    assert bds.bds50.roll50("A0001691FFD263377FFCE02B2BF9") == -0.4  # signed value
-    assert bds.bds50.trk50("A000139381951536E024D4CCF6B5") == 114.258
-    assert bds.bds50.gs50("A000139381951536E024D4CCF6B5") == 438
-    assert bds.bds50.rtrk50("A000139381951536E024D4CCF6B5") == 0.125
-    assert bds.bds50.tas50("A000139381951536E024D4CCF6B5") == 424
+    msg1 = "A000139381951536E024D4CCF6B5"
+    msg2 = "A0001691FFD263377FFCE02B2BF9"

-    assert commb.roll50("A000139381951536E024D4CCF6B5") == 2.1
-    assert commb.roll50("A0001691FFD263377FFCE02B2BF9") == -0.4  # signed value
-    assert commb.trk50("A000139381951536E024D4CCF6B5") == 114.258
-    assert commb.gs50("A000139381951536E024D4CCF6B5") == 438
-    assert commb.rtrk50("A000139381951536E024D4CCF6B5") == 0.125
-    assert commb.tas50("A000139381951536E024D4CCF6B5") == 424
+    for module in [bds.bds50, commb]:
+        assert module.roll50(msg1) == approx(2.1, 0.01)
+        assert module.roll50(msg2) == approx(-0.35, 0.01)  # signed value
+        assert module.trk50(msg1) == approx(114.258, 0.1)
+        assert module.gs50(msg1) == 438
+        assert module.rtrk50(msg1) == 0.125
+        assert module.tas50(msg1) == 424


 def test_bds60_functions():
-    assert bds.bds60.hdg60("A00004128F39F91A7E27C46ADC21") == 42.715
-    assert bds.bds60.ias60("A00004128F39F91A7E27C46ADC21") == 252
-    assert bds.bds60.mach60("A00004128F39F91A7E27C46ADC21") == 0.42
-    assert bds.bds60.vr60baro("A00004128F39F91A7E27C46ADC21") == -1920
-    assert bds.bds60.vr60ins("A00004128F39F91A7E27C46ADC21") == -1920
+    msg = "A00004128F39F91A7E27C46ADC21"

-    assert commb.hdg60("A00004128F39F91A7E27C46ADC21") == 42.715
-    assert commb.ias60("A00004128F39F91A7E27C46ADC21") == 252
-    assert commb.mach60("A00004128F39F91A7E27C46ADC21") == 0.42
-    assert commb.vr60baro("A00004128F39F91A7E27C46ADC21") == -1920
-    assert commb.vr60ins("A00004128F39F91A7E27C46ADC21") == -1920
+    for module in [bds.bds60, commb]:
+        assert bds.bds60.hdg60(msg) == approx(42.71484)
+        assert bds.bds60.ias60(msg) == 252
+        assert bds.bds60.mach60(msg) == 0.42
+        assert bds.bds60.vr60baro(msg) == -1920
+        assert bds.bds60.vr60ins(msg) == -1920
--- a/tests/test_common.py
+++ b/tests/test_common.py
@ -1,62 +0,0 @@
-from pyModeS import common
-
-
-def test_conversions():
-    assert common.hex2bin("6E406B") == "011011100100000001101011"
-
-
-def test_crc_decode():
-    assert common.crc_legacy("8D406B902015A678D4D220AA4BDA") == 0
-
-    assert common.crc("8D406B902015A678D4D220AA4BDA") == 0
-    assert common.crc("8d8960ed58bf053cf11bc5932b7d") == 0
-    assert common.crc("8d45cab390c39509496ca9a32912") == 0
-    assert common.crc("8d49d3d4e1089d00000000744c3b") == 0
-    assert common.crc("8d74802958c904e6ef4ba0184d5c") == 0
-    assert common.crc("8d4400cd9b0000b4f87000e71a10") == 0
-    assert common.crc("8d4065de58a1054a7ef0218e226a") == 0
-
-    assert common.crc("c80b2dca34aa21dd821a04cb64d4") == 10719924
-    assert common.crc("a800089d8094e33a6004e4b8a522") == 4805588
-    assert common.crc("a8000614a50b6d32bed000bbe0ed") == 5659991
-    assert common.crc("a0000410bc900010a40000f5f477") == 11727682
-    assert common.crc("8d4ca251204994b1c36e60a5343d") == 16
-    assert common.crc("b0001718c65632b0a82040715b65") == 353333
-
-
-def test_crc_encode():
-    parity = common.crc("8D406B902015A678D4D220AA4BDA", encode=True)
-    assert parity == 11160538
-
-
-def test_icao():
-    assert common.icao("8D406B902015A678D4D220AA4BDA") == "406B90"
-    assert common.icao("A0001839CA3800315800007448D9") == "400940"
-    assert common.icao("A000139381951536E024D4CCF6B5") == "3C4DD2"
-    assert common.icao("A000029CFFBAA11E2004727281F1") == "4243D0"
-
-
-def test_modes_altcode():
-    assert common.altcode("A02014B400000000000000F9D514") == 32300
-
-
-def test_modes_idcode():
-    assert common.idcode("A800292DFFBBA9383FFCEB903D01") == "1346"
-
-
-def test_graycode_to_altitude():
-    assert common.gray2alt("00000000010") == -1000
-    assert common.gray2alt("00000001010") == -500
-    assert common.gray2alt("00000011011") == -100
-    assert common.gray2alt("00000011010") == 0
-    assert common.gray2alt("00000011110") == 100
-    assert common.gray2alt("00000010011") == 600
-    assert common.gray2alt("00000110010") == 1000
-    assert common.gray2alt("00001001001") == 5800
-    assert common.gray2alt("00011100100") == 10300
-    assert common.gray2alt("01100011010") == 32000
-    assert common.gray2alt("01110000100") == 46300
-    assert common.gray2alt("01010101100") == 50200
-    assert common.gray2alt("11011110100") == 73200
-    assert common.gray2alt("10000000011") == 126600
-    assert common.gray2alt("10000000001") == 126700
--- a/tests/test_py_common.py
+++ b/tests/test_py_common.py
@ -0,0 +1,64 @@
+from pyModeS import py_common
+
+
+def test_conversions():
+    assert py_common.hex2bin("6E") == "01101110"
+    assert py_common.bin2hex("01101110") == "6E"
+    assert py_common.bin2hex("1101110") == "6E"
+
+
+def test_crc_decode():
+    assert py_common.crc_legacy("8D406B902015A678D4D220AA4BDA") == 0
+
+    assert py_common.crc("8D406B902015A678D4D220AA4BDA") == 0
+    assert py_common.crc("8d8960ed58bf053cf11bc5932b7d") == 0
+    assert py_common.crc("8d45cab390c39509496ca9a32912") == 0
+    assert py_common.crc("8d49d3d4e1089d00000000744c3b") == 0
+    assert py_common.crc("8d74802958c904e6ef4ba0184d5c") == 0
+    assert py_common.crc("8d4400cd9b0000b4f87000e71a10") == 0
+    assert py_common.crc("8d4065de58a1054a7ef0218e226a") == 0
+
+    assert py_common.crc("c80b2dca34aa21dd821a04cb64d4") == 10719924
+    assert py_common.crc("a800089d8094e33a6004e4b8a522") == 4805588
+    assert py_common.crc("a8000614a50b6d32bed000bbe0ed") == 5659991
+    assert py_common.crc("a0000410bc900010a40000f5f477") == 11727682
+    assert py_common.crc("8d4ca251204994b1c36e60a5343d") == 16
+    assert py_common.crc("b0001718c65632b0a82040715b65") == 353333
+
+
+def test_crc_encode():
+    parity = py_common.crc("8D406B902015A678D4D220AA4BDA", encode=True)
+    assert parity == 11160538
+
+
+def test_icao():
+    assert py_common.icao("8D406B902015A678D4D220AA4BDA") == "406B90"
+    assert py_common.icao("A0001839CA3800315800007448D9") == "400940"
+    assert py_common.icao("A000139381951536E024D4CCF6B5") == "3C4DD2"
+    assert py_common.icao("A000029CFFBAA11E2004727281F1") == "4243D0"
+
+
+def test_modes_altcode():
+    assert py_common.altcode("A02014B400000000000000F9D514") == 32300
+
+
+def test_modes_idcode():
+    assert py_common.idcode("A800292DFFBBA9383FFCEB903D01") == "1346"
+
+
+def test_graycode_to_altitude():
+    assert py_common.gray2alt("00000000010") == -1000
+    assert py_common.gray2alt("00000001010") == -500
+    assert py_common.gray2alt("00000011011") == -100
+    assert py_common.gray2alt("00000011010") == 0
+    assert py_common.gray2alt("00000011110") == 100
+    assert py_common.gray2alt("00000010011") == 600
+    assert py_common.gray2alt("00000110010") == 1000
+    assert py_common.gray2alt("00001001001") == 5800
+    assert py_common.gray2alt("00011100100") == 10300
+    assert py_common.gray2alt("01100011010") == 32000
+    assert py_common.gray2alt("01110000100") == 46300
+    assert py_common.gray2alt("01010101100") == 50200
+    assert py_common.gray2alt("11011110100") == 73200
+    assert py_common.gray2alt("10000000011") == 126600
+    assert py_common.gray2alt("10000000001") == 126700
--- a/tests/test_surv.py
+++ b/tests/test_surv.py
@ -0,0 +1,22 @@
+from pyModeS import surv
+
+
+def test_fs():
+    assert surv.fs("2A00516D492B80")[0] == 2
+
+
+def test_dr():
+    assert surv.dr("2A00516D492B80")[0] == 0
+
+
+def test_um():
+    assert surv.um("200CBE4ED80137")[0] == 9
+    assert surv.um("200CBE4ED80137")[1] == 1
+
+
+def test_identity():
+    assert surv.identity("2A00516D492B80") == "0356"
+
+
+def test_altitude():
+    assert surv.altitude("20001718029FCD") == 36000
Author	SHA1	Message	Date
Junzi Sun	b4be55116c	git workflow	2024-08-25 13:38:06 +02:00
Junzi Sun	fdfa2b3fab	fix typing	2024-08-25 12:45:24 +02:00
Junzi Sun	2f5dbdf08d	update version and dependencies	2024-08-25 12:37:50 +02:00
Junzi Sun	b22734ad51	fix typing	2024-08-25 12:37:37 +02:00
Junzi Sun	e2de7bc9ac	fix typing	2024-08-25 12:33:28 +02:00
gituser283	74ea61fb11	fix decoder and uncertainty issues (#146 ) * Created branch mods20230421a * nic_v2 NIC return is set to None when a KeyError exception is raised * process_raw receives additional return values from nuc_p, nic_v2, nuc_v, nac_v, nac_p . hum44, p44, temp44, turb44, wind44, tk50, gs50, roc60baro, roc60ins, tc, and icao added to acs dictionary. --------- Co-authored-by: Mike M <>	2024-08-25 12:27:12 +02:00
Junzi Sun	08218f558d	Merge pull request #151 from junzis/quantities Some annotations for physical quantities	2024-08-25 12:23:36 +02:00
Junzi Sun	8acbdf186c	Merge pull request #170 from chrislanzara/master Fixed "Megnatic" typo	2024-08-25 12:23:03 +02:00
dependabot[bot]	d8dd978730	Bump snok/install-poetry from 1.3.4 to 1.4.0 (#171 ) Bumps [snok/install-poetry](https://github.com/snok/install-poetry) from 1.3.4 to 1.4.0. - [Release notes](https://github.com/snok/install-poetry/releases) - [Commits](https://github.com/snok/install-poetry/compare/v1.3.4...v1.4.0) --- updated-dependencies: - dependency-name: snok/install-poetry dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2024-08-25 12:22:23 +02:00
kirth123	01ceb8114a	deleted all the previous commits that were causing problems and added a new commit with better comments (#172 )	2024-08-25 12:20:51 +02:00
Chris	4a7c719978	Fixed "Magnetic" typo	2024-07-03 22:49:24 +01:00
Xavier Olive	93794b64ca	fix build for py312	2024-03-03 17:22:16 +01:00
Xavier Olive	9646c2fbea	bump version	2024-02-02 09:51:44 +01:00
dependabot[bot]	97a50a5b13	Bump actions/cache from 3 to 4 (#166 ) Bumps [actions/cache](https://github.com/actions/cache) from 3 to 4. - [Release notes](https://github.com/actions/cache/releases) - [Changelog](https://github.com/actions/cache/blob/main/RELEASES.md) - [Commits](https://github.com/actions/cache/compare/v3...v4) --- updated-dependencies: - dependency-name: actions/cache dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2024-02-01 20:04:17 +01:00
dependabot[bot]	81b54accb5	Bump codecov/codecov-action from 3 to 4 (#165 ) Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3 to 4. - [Release notes](https://github.com/codecov/codecov-action/releases) - [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md) - [Commits](https://github.com/codecov/codecov-action/compare/v3...v4) --- updated-dependencies: - dependency-name: codecov/codecov-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2024-02-01 20:03:43 +01:00
dependabot[bot]	942c68dc78	Bump actions/setup-python from 4 to 5 (#163 )	2024-01-01 16:29:45 +01:00
Xavier Olive	36fb0de92c	upgrade poetry version	2023-12-19 09:59:35 +01:00
Flyer350	582a0d2188	DI = 1 correction for uplink messages (#157 ) * Update uplink.py Adding lockout for DI = 1 * Update uplink.py	2023-12-18 23:03:34 +01:00
Junzi Sun	45ae55d965	Merge pull request #161 from Flyer350/patch-11 Update allcall.py	2023-12-18 23:02:16 +01:00
Junzi Sun	4cf024f144	Merge pull request #162 from paulmadejong/altitude_none_return Properly return None if altitude could not be decoded	2023-12-18 23:00:38 +01:00
Paul de Jong	eea09227b0	c_common.py: return -999999 (extremely low, physically impossible) altitude in case altitude is unknown or invalid, bds04.py: convert -999999 altitude to None to better signal an invalid/unknown decoded altitude to the user	2023-12-18 16:40:44 +01:00
Flyer350	852315ed2d	Update allcall.py Modified a mistake in the interpretation of CA field 7. See ICAO Annex 10, Vol IV., 3.1.2.5.2.2.1	2023-12-04 14:33:36 +01:00
dependabot[bot]	77273153cb	Bump actions/checkout from 3 to 4 (#158 ) Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 4. - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/v3...v4) --- updated-dependencies: - dependency-name: actions/checkout dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2023-10-01 18:36:54 +02:00
dependabot[bot]	b4c81db151	Bump snok/install-poetry from 1.3.3 to 1.3.4 (#156 ) Bumps [snok/install-poetry](https://github.com/snok/install-poetry) from 1.3.3 to 1.3.4. - [Release notes](https://github.com/snok/install-poetry/releases) - [Commits](https://github.com/snok/install-poetry/compare/v1.3.3...v1.3.4) --- updated-dependencies: - dependency-name: snok/install-poetry dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2023-09-02 13:45:09 +09:00
Xavier Olive	b6608b2f78	loosen dependency requirements	2023-08-22 22:38:50 +02:00
Xavier Olive	070dc80bf4	include pyd files to wheel	2023-08-13 10:57:20 +02:00
Xavier Olive	8d9a8df9d9	minor fix	2023-07-18 13:47:06 +00:00
Xavier Olive	458a78c30b	add the decoding of the gps status indicator	2023-07-18 13:42:16 +00:00
Junzi Sun	57aa7a7d9c	update test	2023-07-18 13:41:54 +00:00
Xavier Olive	b1f8f6ed62	Some annotations for quantities	2023-06-14 22:50:33 +02:00
Junzi Sun	8e2051af68	update test	2023-05-22 17:05:43 +02:00
Paul de Jong	50864b56aa	Remove rounding in pyModeS (#147 ) * Update bds50.py: round roll to 3 places instead of 1 Provide a bit more detail for smaller roll angles. * remove rounding * update poetry * update poetry * update test * update bds06 * update workflow --------- Co-authored-by: Junzi Sun <junzisun@gmail.com>	2023-05-22 17:00:58 +02:00
dependabot[bot]	8403cb61e4	Bump actions/checkout from 2 to 3 (#145 ) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2023-03-02 14:45:28 +01:00
dependabot[bot]	a5b8d670d3	Bump actions/setup-python from 2 to 4 (#144 ) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2023-03-02 14:45:05 +01:00
Xavier Olive	4e19ecdfa9	minor changes, new release	2023-02-14 18:39:52 +01:00
Nicholas (Nick) Kruzan	0d7a310007	Update py_common.py (#143 )	2023-02-12 13:20:42 +01:00
Xavier Olive	66c29840b0	fix build issues	2023-01-19 15:18:16 +01:00
Xavier Olive	99dc2a4f40	limit wheels to windows, otherwise build from src	2022-12-31 00:42:50 +01:00
Xavier Olive	39936e4472	fix publish	2022-12-30 19:53:33 +01:00
Xavier Olive	144ee1710d	fix publish	2022-12-30 19:46:15 +01:00
Xavier Olive	09ed997f91	fix publish	2022-12-30 19:40:25 +01:00
Xavier Olive	e437931254	fix publish	2022-12-30 19:36:16 +01:00
Xavier Olive	72fcc794e7	clean dependencies	2022-12-30 19:22:10 +01:00
Xavier Olive	ff12d819da	fix publish source	2022-12-30 14:17:36 +01:00
Xavier Olive	dc9d7ea91a	fix test runner.os	2022-12-30 14:10:22 +01:00
Xavier Olive	5bc11cd78c	fix test runner.os	2022-12-30 14:08:44 +01:00
Xavier Olive	9e6f9c3ffe	upload source	2022-12-30 14:05:38 +01:00
dependabot[bot]	e1017bc2e5	Bump codecov/codecov-action from 2 to 3 (#136 ) Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 2 to 3. - [Release notes](https://github.com/codecov/codecov-action/releases) - [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md) - [Commits](https://github.com/codecov/codecov-action/compare/v2...v3) --- updated-dependencies: - dependency-name: codecov/codecov-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>	2022-12-30 14:02:05 +01:00
Xavier Olive	ebe1f76cd9	dependabot.yml	2022-12-30 13:57:57 +01:00
Xavier Olive	8830ef3dfe	fix poetry PATH for windows	2022-12-30 13:50:43 +01:00
Xavier Olive	d999851da5	fix typo and &&	2022-12-30 13:42:52 +01:00
Xavier Olive	6d0406c6b9	update version	2022-12-30 13:28:36 +01:00
Xavier Olive	6140f84058	update yml	2022-12-30 00:59:30 +01:00
Xavier Olive	a8f3b9c811	attempt to fix poetry windows cache issue	2022-12-28 00:11:52 +01:00
Xavier Olive	8f098671a0	Update .gitignore	2022-12-28 00:05:07 +01:00
Xavier Olive	4cf99e8927	switch to poetry (#135 )	2022-12-27 23:58:28 +01:00
Xavier Olive	5a703a0d3c	Merge pull request #134 from junzis/pr_flarm FLARM decoder	2022-12-04 23:41:18 +01:00
Xavier Olive	90f35a8f29	FLARM decoder	2022-12-04 00:08:25 +01:00
Xavier Olive	87e6f50486	FLARM decoder	2022-12-04 00:04:55 +01:00
Xavier Olive	0667c1b3c3	include Python 3.11	2022-11-01 20:45:47 +09:00
Xavier Olive	9d82f9b9c9	compatibility with Python 3.7	2022-11-01 20:38:29 +09:00
Xavier Olive	51222372b1	fully annotated code	2022-11-01 16:32:42 +09:00
Xavier Olive	d3607a16c1	Merge pull request #132 from JWyman482/bds62_baro_rounding_fix Bds62 baro rounding fix	2022-08-15 23:39:15 +02:00
John Wyman	6a427c08b5	Update display to remove units if baro == none	2022-08-14 00:45:13 -07:00
John Wyman	afd53af87b	Increase padding on _print to fit baro	2022-08-14 00:34:17 -07:00
John Wyman	6b4a5bdaf3	move round() call to baro == None else clause	2022-08-14 00:27:09 -07:00
Xavier Olive	3e0d7ceec5	Merge pull request #131 from dforsi/fix/imports	2022-08-11 19:01:54 +02:00
Daniele Forsi	130491e641	Add missing import Found with pylint. Fixes: pyModeS/streamer/decode.py:290:21: E0602: Undefined variable 'traceback' (undefined-variable)	2022-08-08 19:56:34 +02:00
Xavier Olive	1f620d6534	Merge pull request #129 from dforsi/fix/description	2022-08-08 13:57:22 +02:00
Daniele Forsi	b4d4ef8f1f	Fix description	2022-08-08 10:21:57 +02:00
Junzi Sun	bb8f83e832	fix RCv for position with GNSS height	2022-07-09 12:11:28 +02:00
Junzi Sun	b90932e51d	add missing parameters for dumpto file	2022-07-09 10:09:41 +02:00
Xavier Olive	b36540e2a1	fix corner case	2022-05-31 09:55:07 +02:00
Junzi Sun	c02414417d	new release 2.11	2022-04-18 20:50:24 +02:00
Xavier Olive	13f4fe77bb	tests with coverage	2022-04-18 20:40:49 +02:00
Xavier Olive	401f3f5e95	ignore for windows+github actions	2022-04-18 20:28:56 +02:00
Xavier Olive	73c3a75234	more os	2022-04-18 18:50:38 +02:00
Xavier Olive	06941bac2e	fix tests	2022-04-18 18:47:12 +02:00
Xavier Olive	6e33ac0288	with mypy	2022-04-18 18:32:33 +02:00
Xavier Olive	65ce1a62c4	test ci and fix #125	2022-04-18 17:59:30 +02:00
Junzi Sun	5dc74a5548	new release	2022-04-18 11:59:14 +02:00
Junzi Sun	e7edba9e25	Merge pull request #121 from Flyer350/patch-9 Update bds20.py	2022-04-18 11:28:15 +02:00
Junzi Sun	ce5adbafe5	Update bds20.py	2022-04-18 11:27:53 +02:00
Flyer350	b52431ca51	Update bds20.py #message with empty callsign can still be BDS2,0 Example messages: a900189f20000000000000d0d739 a100000020000000000000a81785	2022-01-24 10:38:17 +01:00
Junzi Sun	00f04a8886	Merge pull request #119 from Flyer350/patch-8 fix bug in squawk decoding for BDS61	2021-11-22 10:23:32 +01:00
Flyer350	0eb2d1f6a2	Update bds61.py Fix the Mode A decoder. The ZERO is already part of the binary data inside the message and does not need to be added. See ED-102A, 2.2.3.2.7.8.1.2 b. Starting with ―ME‖ bit 12, the code sequence shall be C1, A1, C2, A2, C4, A4, ZERO, B1, D1, B2, D2, B4, D4.	2021-11-18 11:24:42 +01:00
Junzi Sun	26ef5d3ad9	Merge pull request #116 from dforsi/fix/typos Fix typos in doc strings	2021-11-02 22:10:54 +01:00
Daniele Forsi	b90c2e740d	Fix typos in print() strings	2021-10-09 23:17:31 +02:00
Daniele Forsi	e39baf38ed	Fix typos	2021-10-09 22:50:28 +02:00
Junzi Sun	b9471d7fcb	move functions to py_common	2021-10-09 00:02:33 +02:00
Junzi Sun	a350050e6e	Merge pull request #112 from maranov/bugfix/airborne_velocity_trk Fix UnboundLocalError in airborne_velocity when velocity is zero	2021-07-07 22:47:51 +02:00
Junzi Sun	01574a9f01	Merge pull request #111 from maranov/bugfix/tcpclient_disconnect Fix invalid socket disconnect call in TcpClient	2021-07-07 22:46:21 +02:00
Junzi Sun	cdb7aef82e	Merge pull request #108 from dforsi/fix/typos Fix typos	2021-07-07 22:45:22 +02:00
Novak, Marek	a0a8c9b2f7	Fix UnboundLocalError in airborne_velocity when velocity is zero	2021-06-28 17:21:33 +02:00
maranov	0b2648bfe0	Fix invalid socket disconnect call in TcpClient The testing main function now also stops the Client explicitly	2021-06-21 17:26:58 +02:00
Daniele Forsi	69ce39ab39	Fix typos	2021-05-09 14:28:46 +02:00
Junzi Sun	83e22892ba	Merge pull request #98 from TimA346/implement_tc29 Decoder for ADS-B TC=29 (target state and status message)	2021-03-12 18:07:19 +01:00
Junzi Sun	7434fc9ed3	Merge pull request #103 from amhirsch/spelling-magnetic Fixed spelling of "magnetic_north" in docstring	2021-03-12 13:37:27 +01:00
Junzi Sun	7260bff7e9	Merge pull request #101 from Flyer350/patch-7 Update uplink.py	2021-03-12 13:34:19 +01:00
Xander Hirsch	dd1fd596f8	Fixed spelling of "magnetic_north" in docstring	2021-03-07 23:27:08 -08:00
Flyer350	b9089d55d2	Update uplink.py	2021-02-24 15:28:59 +01:00
TimA346	6ab147bffe	Added test for target state and status message subtype 1	2021-01-23 11:51:31 +01:00
TimA346	a308b9a7e0	implemented tc29 BDS6,2	2021-01-23 03:05:48 +01:00
TimA346	96f49a00e4	Merge pull request #1 from junzis/master Update	2021-01-23 02:52:40 +01:00
Junzi Sun	b8f8f4dbc0	add github action for publishing on pypi	2021-01-23 01:35:04 +01:00
Junzi Sun	a4ce3bfaf1	number format	2021-01-23 01:22:19 +01:00
Junzi Sun	3bb8c361e9	bug fix: altiude and TAS	2021-01-23 01:21:54 +01:00
Junzi Sun	89e67fae31	Merge pull request #92 from junzis/pr_readme suggestions for installation	2021-01-11 15:32:05 +01:00
Xavier Olive	50cef7d424	minor packaging additions	2021-01-11 14:45:32 +01:00
Xavier Olive	20801883d5	suggestions for installation	2021-01-06 16:46:20 +01:00
Junzi Sun	56d70b03d2	Update README.rst	2021-01-06 12:40:04 +01:00
Junzi Sun	47de4d1163	Merge pull request #87 from Flyer350/patch-5 Fix comments in uplink.py	2020-12-02 11:38:14 +01:00
Xavier Olive	2978329d03	add the pip install pyModeS[fast] option for the Cython dependency	2020-12-01 14:09:39 +01:00
Flyer350	4471c836d9	Update uplink.py	2020-11-27 10:28:20 +01:00
Flyer350	d16484bf72	Update interrogator() in allcall.py (#86 )	2020-11-26 10:35:16 +01:00
Junzi Sun	436e9ce2c8	Merge pull request #82 from Flyer350/patch-3 Adding more uplink decoding funtions.	2020-11-26 10:34:03 +01:00
Junzi Sun	4a6341bcc0	import allcall and surv module	2020-11-14 23:04:27 +01:00
Junzi Sun	90e60a74b5	Merge pull request #84 from boringow/master Implement all-call and short roll-call replies	2020-11-14 22:10:37 +01:00
Junzi Sun	f65ffd13f7	add tests	2020-11-14 22:05:48 +01:00
Junzi Sun	a3e5e7e141	Update surv.py	2020-11-14 21:57:34 +01:00
Junzi Sun	668d6580d0	Update allcall.py	2020-11-14 21:57:08 +01:00
boringow	eacc828b75	Update surv.py I have completed the allcall.py and the surv.py, but I can not commit the two files at the same time. Hope you like how it looks, If necessary, tell me what could I change. Have a nice weekend!	2020-11-14 09:37:08 +01:00
boringow	4ba900f500	Update allcall.py	2020-11-12 14:49:52 +01:00
boringow	35c0bfa513	Update allcall.py	2020-11-12 14:46:33 +01:00
Flyer350	beb50fc788	Update uplink.py	2020-11-11 00:12:47 +01:00
Flyer350	fc135eacef	Update uplink.py additional decoded fields added	2020-11-11 00:08:30 +01:00
boringow	84c6255567	Update allcall.py Tested, it is all functioning well, I created a new decoder since I couldn't understand yours. It may not be the most optimum, I am quite new into coding so it may no be optimal, but for sure it is working :) Hope you like it!	2020-11-10 20:44:32 +01:00
Junzi Sun	224a0b8a67	remove print statement	2020-11-04 17:21:07 +01:00
Junzi Sun	c3976f1ca3	update cap17()	2020-10-16 22:32:03 +02:00
Junzi Sun	dd3a869c08	fix typos	2020-09-24 22:16:08 +02:00
Junzi Sun	7e966090ab	update meteorological reports decoding example	2020-09-24 22:13:13 +02:00
Junzi Sun	7a4c465f7d	remove mandatory pyrtlsdr dependency	2020-08-17 01:19:16 +02:00
Junzi Sun	0ced97e3eb	fix exception buffer bug	2020-08-17 00:53:49 +02:00
Junzi Sun	2bdd638cef	bug fix in is60()	2020-08-14 23:50:54 +02:00
Junzi Sun	93fc536926	improve BDS 50 and 60 inference	2020-08-05 18:38:12 +02:00
Junzi Sun	1f15a953e3	minor fix in surface speed calculation	2020-07-29 00:53:05 +02:00
Junzi Sun	0d7f628f3c	fix modeslive --help bug	2020-07-13 18:52:42 +02:00
Junzi Sun	7348a10f1b	minor bug fix	2020-06-10 00:07:26 +02:00
Junzi Sun	c9d2c4c6bc	Merge branch 'tuftedocelot-bds-61'	2020-05-23 21:09:58 +02:00
Junzi Sun	0c5539be3a	update BDS61 decoder	2020-05-23 21:07:23 +02:00
Junzi Sun	1cf4d37e56	Merge branch 'master' into tuftedocelot-bds-61	2020-05-23 20:30:30 +02:00
Junzi Sun	2fc376abae	update squawk decoding	2020-05-23 20:29:18 +02:00
Junzi Sun	9c660578ad	Merge branch 'bds-61' of git://github.com/tuftedocelot/pyModeS into tuftedocelot-bds-61	2020-05-23 19:55:30 +02:00
Junzi Sun	ba84cd7c39	update test procedue in Makefile	2020-05-23 19:49:07 +02:00
Junzi Sun	2085a2c432	merge annotations	2020-05-23 19:34:26 +02:00
Junzi Sun	4126dedd19	fix altitude decoding	2020-05-23 19:17:58 +02:00
Chris Lajoie	7892aac4de	Continue reading from socket if no data received (#70 ) Without this change, `modeslive` crashes if no data is available on the socket, which can happen during normal operation of a receiver if no aircraft are in range. Tested on Python 3.7	2020-05-20 11:56:27 +02:00
Xavier Olive	7dcff01910	first annotations	2020-05-07 11:13:57 +02:00
Junzi Sun	228306dd5f	version 2.8	2020-05-04 21:35:29 +02:00
Junzi Sun	1c6b39322f	rename common file	2020-05-04 20:34:25 +02:00
Junzi Sun	9dde1b63d6	fix missing bin2hex()	2020-05-04 20:30:33 +02:00
tuftedocelot	dc8f194e6e	Add support and tests for BDS 6,1 emergency messages ACAS RA messages (subtype 2) are not yet implemented. These messages are the same format as BDS3,0 starting at byte 9	2020-04-30 20:35:19 -05:00