空中交通避障：UTM
PX4 can use MAVLink UTM_GLOBAL_POSITION messages to support simple air traffic avoidance in missions. If a potential collision is detected, PX4 can warn, immediately land, or return (depending on the value of NAV_TRAFF_AVOID).
Configure Traffic Avoidance
Configure the trigger distance and action when there is a potential collision using the parameters below:
| Parameter | Description |
|---|---|
Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. | |
Set traffic avoidance trigger distance for manned aviation. | |
Set traffic avoidance trigger distance for unmanned aviation. |
Implementation
PX4 listens for UTM_GLOBAL_POSITION MAVLink messages during missions. When a valid message is received, its validity flags, position and heading are mapped into the same transponder_report UORB topic used for ADS-B traffic avoidance.
The implementation is otherwise exactly as described in: ADS-B traffic avoidance > Implementation.
Further Information
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