need to switch to odid-scanner

libraries/AP_ODIDScanner/AP_ODIDScanner.cpp

@@ -43,7 +43,7 @@ void AP_ODIDScanner::init() {
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "RID: Unable to initialize RID vehicle list");
             return;
         }
-        in_state.list_size_allocated = in_state.list_size_param;
+        in_state.list_size_allocated = in_state.list_size_param;        
     }
 }
 
@@ -188,3 +188,20 @@ Location AP_ODIDScanner::get_location(rid_vehicle_t &vehicle) {
         Location::AltFrame::ABSOLUTE);
     return loc;
 }
+
+/*
+ * Copy a vehicle's data into the list
+ */
+void AP_ADSB::set_vehicle(const uint16_t index, const rid_vehicle_t &vehicle)
+{
+    if (index >= in_state.list_size_allocated) {
+        // out of range
+        return;
+    }
+    in_state.vehicle_list[index] = vehicle;
+
+// TODO: write_log method required
+// #if HAL_LOGGING_ENABLED
+//     write_log(vehicle);
+// #endif
+}

libraries/AP_ODIDScanner/AP_ODIDScanner.h

@@ -90,6 +90,9 @@ class AP_ODIDScanner
         uint32_t    send_start_ms[MAVLINK_COMM_NUM_BUFFERS];
         uint16_t    send_index[MAVLINK_COMM_NUM_BUFFERS];
     } in_state;
+
+    uint8_t detected_num_instances;
+
     static const uint8_t _max_samples = 30;
     ObjectBuffer<rid_vehicle_t> _samples{_max_samples};
 
@@ -103,6 +106,7 @@ class AP_ODIDScanner
     void update_collide();
     Location get_location(const rid_vehicle_t &vehicle);
     void delete_vehicle(const uint16_t index);
+    void set_vehicle(const uint16_t index, const rid_vehicle_t &vehicle);
     void handle_msg(mavlink_message_t);
     // mavlink_channel_t _chan; // mavlink channel that communicates with the remote id transceiver
     uint8_t _mav_port;