diff --git a/htdocs/lib/MessagePanel.js b/htdocs/lib/MessagePanel.js
index a0bef6d5..61c1c2d8 100644
--- a/htdocs/lib/MessagePanel.js
+++ b/htdocs/lib/MessagePanel.js
@@ -291,6 +291,9 @@ AdsbMessagePanel.prototype.render = function() {
'| Altitude | ' +
'Speed | ' +
'Track | ' +
+ 'V/S | ' +
+ 'Lat | ' +
+ 'Long | ' +
'Messages | ' +
'' +
'' +
@@ -322,12 +325,19 @@ AdsbMessagePanel.prototype.pushMessage = function(message) {
return "";
}
+ var coordRound = function(i) {
+ return Math.round(i * 1000) / 1000;
+ }
+
state.el.html(
'' + state.icao + ' | ' +
'' + ifDefined(state.identification) + ' | ' +
'' + ifDefined(state.altitude) + ' | ' +
- '' + ifDefined(state.groundspeed, Math.round) + ' | ' +
- '' + ifDefined(state.groundtrack, Math.round) + ' | ' +
+ '' + ifDefined(state.groundspeed || state.IAS || state.TAS, Math.round) + ' | ' +
+ '' + ifDefined(state.groundtrack || state.heading, Math.round) + ' | ' +
+ '' + ifDefined(state.verticalspeed) + ' | ' +
+ '' + ifDefined(state.lat, coordRound) + ' | ' +
+ '' + ifDefined(state.lon, coordRound) + ' | ' +
'' + state.messages + ' | '
);
};
diff --git a/owrx/adsb/modes.py b/owrx/adsb/modes.py
index dcd41388..dcf17a44 100644
--- a/owrx/adsb/modes.py
+++ b/owrx/adsb/modes.py
@@ -1,5 +1,6 @@
from csdr.module import PickleModule
-from math import sqrt, atan2, pi
+from math import sqrt, atan2, pi, floor, acos, cos
+import time
import logging
@@ -8,8 +9,35 @@ logger = logging.getLogger(__name__)
FEET_PER_METER = 3.28084
+nz = 15
+d_lat_even = 360 / (4 * nz)
+d_lat_odd = 360 / (4 * nz - 1)
+
+
+class CprCache:
+ def __init__(self):
+ self.aircraft = {}
+
+ def getRecentData(self, icao: str):
+ if icao not in self.aircraft:
+ return []
+ now = time.time()
+ filtered = [r for r in self.aircraft[icao] if now - r["timestamp"] < 10]
+ records = sorted(filtered, key=lambda r: r["timestamp"])
+ self.aircraft[icao] = records
+ return [r["data"] for r in records]
+
+ def addRecord(self, icao: str, data: any):
+ if icao not in self.aircraft:
+ self.aircraft[icao] = []
+ self.aircraft[icao].append({"timestamp": time.time(), "data": data})
+
class ModeSParser(PickleModule):
+ def __init__(self):
+ self.cprCache = CprCache()
+ super().__init__()
+
def process(self, input):
format = (input[0] & 0b11111000) >> 3
message = {
@@ -18,11 +46,11 @@ class ModeSParser(PickleModule):
}
if format == 17:
message["capability"] = input[0] & 0b111
- message["icao"] = input[1:4].hex()
+ message["icao"] = icao = input[1:4].hex()
type = (input[4] & 0b11111000) >> 3
message["type"] = type
- if type in range(1, 5):
+ if type in [1, 2, 3, 4]:
# identification message
id = [
(input[5] & 0b11111100) >> 2,
@@ -37,12 +65,19 @@ class ModeSParser(PickleModule):
message["identification"] = bytes(b + (0x40 if b < 27 else 0) for b in id).decode("ascii")
- elif type in range(5, 9):
+ elif type in [5, 6, 7, 8]:
# surface position
pass
- elif type in range(9, 19):
+ elif type in [9, 10, 11, 12, 13, 14, 15, 16, 17, 18]:
# airborne position (w/ baro altitude)
+
+ cpr = self.__getCprData(icao, input)
+ if cpr is not None:
+ lat, lon = cpr
+ message["lat"] = lat
+ message["lon"] = lon
+
q = (input[5] & 0b1)
altitude = ((input[5] & 0b11111110) << 3) | ((input[6] & 0b11110000) >> 4)
if q:
@@ -54,28 +89,73 @@ class ModeSParser(PickleModule):
elif type == 19:
# airborne velocity
subtype = input[4] & 0b111
- if subtype in range(1, 3):
- dew = (input[5] & 0b00000100) >> 2
+ if subtype in [1, 2]:
+ # velocity is reported in an east/west and a north/south component
+ # vew = velocity east / west
vew = ((input[5] & 0b00000011) << 8) | input[6]
- dns = (input[7] & 0b10000000) >> 7
+ # vns = velocity north / south
vns = ((input[7] & 0b01111111) << 3) | ((input[8] & 0b1110000000) >> 5)
- vx = vew - 1
- if dew:
- vx *= -1
- vy = vns - 1
- if dns:
- vy *= -1
- # supersonic
- if subtype == 2:
- vx *= 4
- vy *= 4
- message["groundspeed"] = sqrt(vx ** 2 + vy ** 2)
- message["groundtrack"] = (atan2(vx, vy) * 360 / (2 * pi)) % 360
- else:
- logger.debug("subtype: %i", subtype)
- elif type in range(20, 23):
+ # 0 means no data
+ if vew != 0 and vns != 0:
+ # dew = direction east/west (0 = to east, 1 = to west)
+ dew = (input[5] & 0b00000100) >> 2
+ # dns = direction north/south (0 = to north, 1 = to south)
+ dns = (input[7] & 0b10000000) >> 7
+
+ vx = vew - 1
+ if dew:
+ vx *= -1
+ vy = vns - 1
+ if dns:
+ vy *= -1
+ # supersonic
+ if subtype == 2:
+ vx *= 4
+ vy *= 4
+ message["groundspeed"] = sqrt(vx ** 2 + vy ** 2)
+ message["groundtrack"] = (atan2(vx, vy) * 360 / (2 * pi)) % 360
+
+ # vertical rate
+ vr = ((input[8] & 0b00000111) << 6) | ((input[9] & 0b11111100) >> 2)
+ if vr != 0:
+ # vertical speed sign (1 = negative)
+ svr = ((input[8] & 0b00001000) >> 3)
+ # vertical speed
+ vs = 64 * (vr - 1)
+ if svr:
+ vs *= -1
+ message["verticalspeed"] = vs
+
+ elif subtype in [3, 4]:
+ sh = (input[5] & 0b00000100) >> 2
+ if sh:
+ hdg = ((input[5] & 0b00000011) << 8) | input[6]
+ message["heading"] = hdg * 360 / 1024
+ logger.debug("decoded from subtype 3: heading = %i", message["heading"])
+ airspeed = ((input[7] & 0b01111111) << 3) | ((input[8] & 0b11100000) >> 5)
+ if airspeed != 0:
+ airspeed -= 1
+ # supersonic
+ if subtype == 4:
+ airspeed *= 4
+ airspeed_type = (input[7] & 0b10000000) >> 7
+ if airspeed_type:
+ message["TAS"] = airspeed
+ logger.debug("decoded from subtype 3: TAS = %i", message["TAS"])
+ else:
+ message["IAS"] = airspeed
+ logger.debug("decoded from subtype 3: IAS = %i", message["IAS"])
+
+ elif type in [20, 21, 22]:
# airborne position (w/GNSS height)
+
+ cpr = self.__getCprData(icao, input)
+ if cpr is not None:
+ lat, lon = cpr
+ message["lat"] = lat
+ message["lon"] = lon
+
altitude = (input[5] << 4) | ((input[6] & 0b1111) >> 4)
message["altitude"] = altitude * FEET_PER_METER
@@ -92,3 +172,79 @@ class ModeSParser(PickleModule):
pass
return message
+
+ def __getCprData(self, icao: str, input):
+ self.cprCache.addRecord(icao, {
+ "cpr_format": (input[6] & 0b00000100) >> 2,
+ "lat_cpr" : ((input[6] & 0b00000011) << 15) | (input[7] << 7) | ((input[8] & 0b11111110) > 1),
+ "lon_cpr": ((input[8] & 0b00000001) << 16) | (input[9] << 8) | (input[10])
+ })
+
+ records = self.cprCache.getRecentData(icao)
+
+ try:
+ # records are sorted by timestamp, last should be newest
+ rev = reversed(records)
+ odd = next(r for r in rev if r["cpr_format"])
+ even = next(r for r in rev if not r["cpr_format"])
+
+ lat_cpr_even = even["lat_cpr"] / 2 ** 17
+ lat_cpr_odd = odd["lat_cpr"] / 2 ** 17
+
+ # latitude zone index
+ j = floor(59 * lat_cpr_even - 60 * lat_cpr_odd + .5)
+
+ lat_even = d_lat_even * ((j % 60) + lat_cpr_even)
+ lat_odd = d_lat_odd * ((j % 59) + lat_cpr_odd)
+
+ if lat_even >= 270:
+ lat_even -= 360
+ if lat_odd >= 270:
+ lat_odd -= 360
+
+ def nl(lat):
+ if lat == 0:
+ return 59
+ elif lat == 87:
+ return 2
+ elif lat == -87:
+ return 2
+ elif lat > 87:
+ return 1
+ elif lat < -87:
+ return 1
+ else:
+ return floor((2 * pi) / acos(1 - (1 - cos(pi / (2 * nz))) / (cos((pi / 180) * lat) ** 2)))
+
+ if nl(lat_even) != nl(lat_odd):
+ logger.debug("latitude zone mismatch")
+ return
+
+ newest = next(rev)
+ lat = lat_odd if newest["cpr_format"] else lat_even
+
+ lon_cpr_even = even["lon_cpr"] / 2 ** 17
+ lon_cpr_odd = odd["lon_cpr"] / 2 ** 17
+
+ # longitude zone index
+ nl_lat = nl(lat)
+ m = floor(lon_cpr_even * (nl_lat - 1) - lon_cpr_odd * nl_lat + .5)
+
+ n_even = max(nl_lat, 1)
+ n_odd = max(nl(lat - 1), 1)
+
+ d_lon_even = 360 / n_even
+ d_lon_odd = 360 / n_odd
+
+ lon_even = d_lon_even * (m % n_even + lon_cpr_even)
+ lon_odd = d_lon_odd * (m % n_odd + lon_cpr_odd)
+
+ lon = lon_odd if newest["cpr_format"] else lon_even
+ if lon >= 180:
+ lon -= 360
+
+ return lat, lon
+
+ except StopIteration:
+ # we don't have both CPR records. better luck next time.
+ pass