SerialWorker: decode MAVLink ADSB_VEHICLE (DroneScout Bridge DS101)

CHANGELOG.md

@@ -1,3 +1,10 @@
+## DroneCOT 2.2.3
+
+- SerialWorker: handle MAVLink **ADSB_VEHICLE** messages (in addition to
+  OPEN_DRONE_ID_MESSAGE_PACK), so Remote ID receivers that emit ADS-B-style
+  frames — e.g. the **BlueMark DroneScout Bridge (DS101)** in ADS-B output mode
+  — are decoded to CoT. Adds a test for the ADSB_VEHICLE -> RID conversion.
+
 ## DroneCOT 2.2.2
 
 - Fix UTC timestamp handling on Python 3.9 and 3.10.

src/dronecot/VERSION

@@ -1 +1 @@
-2.2.2
+2.2.3

src/dronecot/classes.py

@@ -87,6 +87,35 @@ def _mavlink_pack_to_parse_payload_schema(self, messages, pack_size) -> dict:
         parsed = dronecot.odid.message_pack_to_dict(messages, pack_size)
         return dronecot.rid_normalize.odid_parsed_to_rid_dict(parsed)
 
+    @staticmethod
+    def _adsb_vehicle_to_rid_dict(msg) -> dict:
+        """Convert a MAVLink ADSB_VEHICLE to a RIDWorker dict.
+
+        The DroneScout Bridge (and similar Remote ID receivers) can emit detected
+        Remote ID as MAVLink ADSB_VEHICLE instead of OPEN_DRONE_ID_MESSAGE_PACK.
+        Units: lat/lon 1e-7 deg, altitude mm, hor/ver velocity cm/s, heading cdeg.
+        Returns {} when there is no position.
+        """
+        lat = getattr(msg, "lat", 0) / 1e7
+        lon = getattr(msg, "lon", 0) / 1e7
+        if not lat and not lon:
+            return {}
+        callsign = getattr(msg, "callsign", "") or ""
+        if isinstance(callsign, bytes):
+            callsign = callsign.decode("ascii", "ignore")
+        callsign = callsign.replace("\x00", "").strip()
+        icao = int(getattr(msg, "ICAO_address", 0) or 0)
+        return {
+            "BasicID": callsign or f"ICAO-{icao:06X}",
+            "Latitude": lat,
+            "Longitude": lon,
+            "AltitudeGeo": getattr(msg, "altitude", 0) / 1000.0,  # mm -> m
+            "SpeedHorizontal": getattr(msg, "hor_velocity", 0) / 100.0,  # cm/s -> m/s
+            "SpeedVertical": getattr(msg, "ver_velocity", 0) / 100.0,
+            "Direction": getattr(msg, "heading", 0) / 100.0,  # cdeg -> deg
+            "data": {"type": "MAVLink ADSB_VEHICLE"},
+        }
+
     async def run(self, _=-1) -> None:
         """Read MAVLink messages from serial and enqueue decoded ODID payloads."""
         self._logger.info("Running SerialWorker")
@@ -154,6 +183,10 @@ async def run(self, _=-1) -> None:
                         msg.messages, msg.msg_pack_size
                     )
                     await self.put_queue(parsed_payload)
+                elif msg_type == "ADSB_VEHICLE":
+                    rid = self._adsb_vehicle_to_rid_dict(msg)
+                    if rid:
+                        await self.put_queue(rid)
                 elif msg_type == "HEARTBEAT":
                     self._logger.debug(
                         "MAVLink heartbeat received at %s",

tests/test_adsb_vehicle.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+# Copyright Sensors & Signals LLC https://www.snstac.com/
+# SPDX-License-Identifier: Apache-2.0
+"""Tests for SerialWorker MAVLink ADSB_VEHICLE -> RID dict (DroneScout Bridge)."""
+
+import types
+import unittest
+
+from dronecot.classes import SerialWorker
+
+
+def _adsb(**kw):
+    return types.SimpleNamespace(**kw)
+
+
+class AdsbVehicleTestCase(unittest.TestCase):
+    def test_full_conversion(self):
+        rid = SerialWorker._adsb_vehicle_to_rid_dict(
+            _adsb(
+                lat=407128000, lon=-740060000, altitude=120500,
+                hor_velocity=825, ver_velocity=-50, heading=27000,
+                callsign="DRONE1\x00\x00", ICAO_address=0x123456,
+            )
+        )
+        self.assertAlmostEqual(rid["Latitude"], 40.7128, places=6)
+        self.assertAlmostEqual(rid["Longitude"], -74.0060, places=6)
+        self.assertEqual(rid["AltitudeGeo"], 120.5)          # mm -> m
+        self.assertEqual(rid["SpeedHorizontal"], 8.25)       # cm/s -> m/s
+        self.assertEqual(rid["Direction"], 270.0)            # cdeg -> deg
+        self.assertEqual(rid["BasicID"], "DRONE1")
+
+    def test_no_callsign_falls_back_to_icao(self):
+        rid = SerialWorker._adsb_vehicle_to_rid_dict(
+            _adsb(lat=407128000, lon=-740060000, callsign="", ICAO_address=0x123456)
+        )
+        self.assertEqual(rid["BasicID"], "ICAO-123456")
+
+    def test_no_position_dropped(self):
+        self.assertEqual(SerialWorker._adsb_vehicle_to_rid_dict(_adsb(lat=0, lon=0)), {})
+
+
+if __name__ == "__main__":
+    unittest.main()