Added Radio.ID and refactored the Stats interface

2026-03-17 08:33:06 +01:00
parent 8ec85821e4
commit 27e2da1943
15 changed files with 2045 additions and 22 deletions
--- a/protocol/adsb/fields/bds05.go
+++ b/protocol/adsb/fields/bds05.go
@@ -0,0 +1,158 @@
+package fields
+
+// SurveillanceStatus is the surveillance status
+//
+// Specified in Doc 9871 / A.2.3.2.6
+type SurveillanceStatus byte
+
+const (
+	SSNoCondition    SurveillanceStatus = iota // No aircraft category information
+	SSPermanentAlert                           // Permanent alert (emergency condition)
+	SSTemporaryAlert                           // Temporary alert (change in Mode A identity code other than emergency condition)
+	SSSPICondition                             // SPI condition
+
+)
+
+// AltitudeSource is the type of source of the Altitude: Barometric or GNSS.
+type AltitudeSource byte
+
+const (
+	AltitudeBarometric AltitudeSource = iota // Altitude is barometric altitude
+	AltitudeGNSS                             // Altitude is GNSS height (HAE)
+)
+
+// AltitudeReportMethod defines how the altitude is reported.
+type AltitudeReportMethod byte
+
+const (
+	AltitudeReport100FootIncrements AltitudeReportMethod = iota // 100-foot increments
+	AltitudeReport25FootIncrements                              // 25-foot increments
+)
+
+// CompactPositionReportingFormat is the CPR (Compact Position Reporting) format definition
+//
+// Specified in Doc 9871 / A.2.3.3.3
+type CompactPositionReportingFormat byte
+
+const (
+	CPRFormatEven CompactPositionReportingFormat = iota // Even format coding
+	CPRFormatOdd                                        // Odd format coding
+)
+
+func ParseCompactPositioningReportFormat(data []byte) CompactPositionReportingFormat {
+	bits := (data[2] & 0x04) >> 2
+	return CompactPositionReportingFormat(bits)
+}
+
+func ParseAltitude(data []byte) (altitude int32, source AltitudeSource, method AltitudeReportMethod, err error) {
+	source = AltitudeBarometric
+	if format := (data[0] & 0xF8) >> 3; 20 <= format && format <= 22 {
+		source = AltitudeGNSS
+	}
+
+	// Altitude code is a 12 bits fields, so read a uint16
+	// bit         | 8  9 10 11 12 13 14 15| 16 17 18 19 20 21 22 23 |
+	// message     | x  x  x  x  x  x  x  x|  x  x  x  x  _  _  _  _ |
+	// 100 foot    |C1 A1 C2 A2 C4 A4 B1  Q| B2 D2 B4 D4  _  _  _  _ |
+	// Get the Q bit
+	if qBit := (data[1] & 0x01) != 0; qBit {
+		// If the Q bit equals 1, the 11-bit field represented by bits 8 to 14 and 16 to 18
+		n := uint16(0)
+		n |= uint16(data[1]&0xFE) << 3
+		n |= uint16(data[2]&0xF0) >> 4
+		return 25*int32(n) - 1000, source, AltitudeReport25FootIncrements, nil
+	}
+
+	// Otherwise, altitude is reported in 100 foot increments
+	c1 := (data[1] & 0x80) != 0
+	a1 := (data[1] & 0x40) != 0
+	c2 := (data[1] & 0x20) != 0
+	a2 := (data[1] & 0x10) != 0
+	c4 := (data[1] & 0x08) != 0
+	a4 := (data[1] & 0x04) != 0
+	b1 := (data[1] & 0x02) != 0
+	b2 := (data[2] & 0x80) != 0
+	d2 := (data[2] & 0x40) != 0
+	b4 := (data[2] & 0x20) != 0
+	d4 := (data[2] & 0x10) != 0
+	if altitude, err = GillhamToAltitude(false, d2, d4, a1, a2, a4, b1, b2, b4, c1, c2, c4); err != nil {
+		return
+	}
+
+	return
+}
+
+// MovementStatus is the status of the Movement information
+type MovementStatus int
+
+const (
+	// MSNoInformation indicates no information
+	MSNoInformation        MovementStatus = 0   // No information
+	MSAircraftStopped      MovementStatus = 1   // The aircraft is stopped
+	MSAboveMaximum         MovementStatus = 124 // The Movement is above the maximum
+	MSReservedDecelerating MovementStatus = 125 // Reserved
+	MSReservedAccelerating MovementStatus = 126 // Reserved
+	MSReservedBackingUp    MovementStatus = 127 // Reserved
+)
+
+func ParseMovementStatus(data []byte) (float64, MovementStatus) {
+	bits := (data[0]&0x07)<<4 + (data[1]&0xF0)>>4
+	status := MovementStatus(bits)
+	return status.Speed(), status
+}
+
+// Speed in knots.
+func (status MovementStatus) Speed() float64 {
+	if status == 0 || status == 1 || status > 124 {
+		return 0
+	} else if 2 <= status && status <= 8 {
+		return 0.125 + float64(status-2)*0.125
+	} else if 9 <= status && status <= 12 {
+		return 1 + float64(status-9)*0.25
+	} else if 13 <= status && status <= 38 {
+		return 2 + float64(status-13)*0.5
+	} else if 39 <= status && status <= 93 {
+		return 15 + float64(status-39)*1.0
+	} else if 94 <= status && status <= 108 {
+		return 70 + float64(status-94)*2.0
+	} else if 109 <= status && status <= 123 {
+		return 100 + float64(status-109)*5.0
+	}
+
+	// Movement max
+	return 175
+}
+
+// EncodedLatitude is the encoded latitude
+//
+// Specified in Doc 9871 / C.2.6
+type EncodedLatitude uint32
+
+func ParseEncodedLatitude(data []byte) EncodedLatitude {
+	return EncodedLatitude((data[2]&0x02)>>1)<<16 |
+		EncodedLatitude((data[2]&0x01)<<7+(data[3]&0xFE)>>1)<<8 |
+		EncodedLatitude((data[3]&0x01)<<7+(data[4]&0xFE)>>1)
+}
+
+// EncodedLongitude is the encoded longitude
+//
+// Specified in Doc 9871 / C.2.6
+type EncodedLongitude uint32
+
+func ParseEncodedLongitude(data []byte) EncodedLongitude {
+	return EncodedLongitude(data[4]&0x01)<<16 |
+		EncodedLongitude(data[5])<<8 |
+		EncodedLongitude(data[6])
+}
+
+func ParseGroundTrackStatus(data []byte) (track float64, status bool) {
+	status = (data[1] & 0x08) != 0
+
+	allBits := (uint16(data[1]&0x07)<<8 | uint16(data[2]&0xF0)) >> 4
+	track = float64(allBits) * 360.0 / 128.0
+	return
+}
+
+func ParseTimeSynchronizedToUTC(data []byte) bool {
+	return ((data[2] & 0x08) >> 3) != 0
+}
--- a/protocol/adsb/fields/bds09.go
+++ b/protocol/adsb/fields/bds09.go
@@ -0,0 +1,208 @@
+package fields
+
+// NumericValueStatus is the status of the numeric values, such as air speed, velocity, etc.
+type NumericValueStatus byte
+
+const (
+	NVSNoInformation NumericValueStatus = iota // No velocity information
+	NVSRegular                                 // Velocity is computed on the linear scale value of field * factor
+	NVSMaximum                                 // Velocity field value indicates velocity greater the maximum of the scale
+)
+
+// ParseHeightDifference reads the Height difference from a 56 bits data field
+func ParseHeightDifference(data []byte) (int16, NumericValueStatus) {
+	negative := data[6]&0x80 != 0
+	difference := int16(data[6] & 0x7F)
+
+	if difference == 0 {
+		return 0, NVSNoInformation
+	} else if difference >= 127 {
+		if negative {
+			return -3150, NVSMaximum
+		} else {
+			return 3150, NVSMaximum
+		}
+	}
+
+	difference = (difference - 1) * 25
+	if negative {
+		difference = -difference
+	}
+
+	return difference, NVSRegular
+}
+
+// VerticalRateSource is the Source Bit for Vertical Rate definition
+//
+// Specified in Doc 9871 / Table A-2-9
+type VerticalRateSource byte
+
+const (
+	VerticalRateSourceGNSS       VerticalRateSource = iota // GNSS source
+	VerticalRateSourceBarometric                           // Barometric source
+)
+
+// DirectionNorthSouth is the Direction Bit NS Velocity definition
+//
+// Specified in Doc 9871 / Table A-2-9
+type DirectionNorthSouth byte
+
+func ParseDirectionNorthSouth(data []byte) DirectionNorthSouth {
+	return DirectionNorthSouth((data[3] & 0x80) >> 7)
+}
+
+func ParseVelocityNorthSouthNormal(data []byte) (velocity uint16, status NumericValueStatus) {
+	velocity = (uint16(data[3]&0x7F)<<8 | uint16(data[4]&0xE0)) >> 5
+	if velocity == 0 {
+		return 0, NVSNoInformation
+	} else if velocity >= 1023 {
+		return 1023, NVSMaximum
+	}
+	return velocity - 1, NVSRegular
+}
+
+func ParseVelocityNorthSouthSupersonic(data []byte) (velocity uint16, status NumericValueStatus) {
+	velocity = (uint16(data[3]&0x7F)<<8 | uint16(data[4]&0xE0)) >> 5
+	if velocity == 0 {
+		return 0, NVSNoInformation
+	} else if velocity >= 1023 {
+		return 4088, NVSMaximum
+	}
+	return (velocity - 1) * 4, NVSRegular
+}
+
+const (
+	DNSNorth DirectionNorthSouth = iota // North
+	DNSSouth                            // South
+)
+
+// DirectionEastWest is the Direction Bit EW Velocity definition
+//
+// Specified in Doc 9871 / Table A-2-9
+type DirectionEastWest byte
+
+func ParseDirectionEastWest(data []byte) DirectionEastWest {
+	return DirectionEastWest((data[1] & 0x04) >> 2)
+}
+
+func ParseVelocityEastWestNormal(data []byte) (velocity uint16, status NumericValueStatus) {
+	velocity = (uint16(data[1]&0x03) | uint16(data[2]))
+	if velocity == 0 {
+		return 0, NVSNoInformation
+	} else if velocity >= 1023 {
+		return 1023, NVSMaximum
+	}
+	return velocity - 1, NVSRegular
+}
+
+func ParseVelocityEastWestSupersonic(data []byte) (velocity uint16, status NumericValueStatus) {
+	velocity = (uint16(data[1]&0x03) | uint16(data[2]))
+	if velocity == 0 {
+		return 0, NVSNoInformation
+	} else if velocity >= 1023 {
+		return 4088, NVSMaximum
+	}
+	return (velocity - 1) * 4, NVSRegular
+}
+
+const (
+	DEWEast DirectionEastWest = iota // East
+	DEWWest                          // West
+)
+
+func ParseIntentChange(data []byte) bool {
+	return (data[1]&0x80)>>7 != 0
+}
+
+func ParseIFRCapability(data []byte) bool {
+	return (data[1]&0x40)>>6 != 0
+}
+
+// NavigationUncertaintyCategory is the Navigation Uncertainty Category definition
+//
+// Specified in Doc 9871 / Table A-2-9
+type NavigationUncertaintyCategory byte
+
+const (
+	NUCPUnknown                                             NavigationUncertaintyCategory = iota // Unknown
+	NUCPHorizontalLowerThan10VerticalLowerThan15Point2                                           // Horizontal <  10m/s and Vertical < 15.2m/s
+	NUCPHorizontalLowerThan3VerticalLowerThan4Point6                                             // Horizontal <   3m/s and Vertical <  4.6m/s
+	NUCPHorizontalLowerThan1VerticalLowerThan1Point5                                             // Horizontal <   1m/s and Vertical <  1.5m/s
+	NUCPHorizontalLowerThan0Point3VerticalLowerThan0Point46                                      // Horizontal < 0.3m/s and Vertical < 0.46m/s
+)
+
+func ParseeNavigationUncertaintyCategory(data []byte) NavigationUncertaintyCategory {
+	return NavigationUncertaintyCategory((data[1] & 0x38) >> 3)
+}
+
+func ParseMagneticHeading(data []byte) (heading float64, status bool) {
+	status = (data[1]&0x04)>>2 != 0
+	value := uint16(data[1]&0x03)<<8 | uint16(data[2])
+	heading = float64(value) * 360 / 1024.0
+	return
+}
+
+func ParseAirspeedNormal(data []byte) (speed uint16, status NumericValueStatus) {
+	velocity := (uint16(data[3]&0x7F)<<8 | uint16(data[4]&0xE0)) >> 5
+	if velocity == 0 {
+		return 0, NVSNoInformation
+	} else if velocity >= 1023 {
+		return 1023, NVSMaximum
+	}
+	return velocity - 1, NVSRegular
+}
+
+func ParseAirspeedSupersonic(data []byte) (speed uint16, status NumericValueStatus) {
+	velocity := (uint16(data[3]&0x7F)<<8 | uint16(data[4]&0xE0)) >> 5
+	if velocity == 0 {
+		return 0, NVSNoInformation
+	} else if velocity >= 1023 {
+		return 4088, NVSMaximum
+	}
+	return (velocity - 1) * 4, NVSRegular
+}
+
+func ParseVerticalRateSource(data []byte) VerticalRateSource {
+	return VerticalRateSource((data[4] & 0x10) >> 4)
+}
+
+func ParseVerticalRate(data []byte) (rate int16, status NumericValueStatus) {
+	negative := data[4]&0x08 != 0
+	rate = int16(uint16(data[4]&0x07)<<8 | uint16(data[5]&0xFC))
+	if rate == 0 {
+		return 0, NVSNoInformation
+	} else if rate >= 511 {
+		if negative {
+			return -32640, NVSMaximum
+		}
+		return 32640, NVSMaximum
+	}
+
+	rate = (rate - 1) * 64
+	if negative {
+		rate = -rate
+	}
+	return rate, NVSRegular
+}
+
+func ParseHeightDifferenceFromBaro(data []byte) (difference int16, status NumericValueStatus) {
+	negative := data[6]&0x80 != 0
+	difference = int16(data[6] & 0x7F)
+
+	if difference == 0 {
+		return 0, NVSNoInformation
+	} else if difference >= 127 {
+		if negative {
+			return -3150, NVSMaximum
+		} else {
+			return 3150, NVSMaximum
+		}
+	}
+
+	difference = (difference - 1) * 25
+	if negative {
+		difference = -difference
+	}
+
+	return difference, NVSRegular
+}
--- a/protocol/adsb/fields/bds61.go
+++ b/protocol/adsb/fields/bds61.go
@@ -0,0 +1,21 @@
+package fields
+
+// EmergencyPriorityStatus is the Emergency Priority Status definition
+//
+// Specified in Doc 9871 / Table B-2-97a
+type EmergencyPriorityStatus byte
+
+const (
+	EPSNoEmergency          EmergencyPriorityStatus = iota // No emergency
+	EPSGeneralEmergency                                    // General emergency
+	EPSLifeguardMedical                                    // Lifeguard/medical emergency
+	EPSMinimumFuel                                         // Minimum fuel
+	EPSNoCommunication                                     // No communications
+	EPSUnlawfulInterference                                // Unlawful interference
+	EPSDownedAircraft                                      // Downed aircraft
+	EPSReserved7                                           // Reserved
+)
+
+func ParseEmergencyPriorityStatus(data []byte) EmergencyPriorityStatus {
+	return EmergencyPriorityStatus((data[1] & 0xE0) >> 5)
+}
--- a/protocol/adsb/fields/bds62.go
+++ b/protocol/adsb/fields/bds62.go
@@ -0,0 +1,176 @@
+package fields
+
+// VerticalDataAvailableSourceIndicator is the Vertical Data Available / Source Indicator definition
+//
+// Specified in Doc 9871 / B.2.3.9.3
+type VerticalDataAvailableSourceIndicator byte
+
+const (
+	VDANoValidDataAvailable VerticalDataAvailableSourceIndicator = iota // No data available
+	VDAAutopilot                                                        // Autopilot control panel selected value, such as Mode Control Panel (MCP) or Flight Control Unit (FCU)
+	VDAHoldingAltitude                                                  // Holding altitude
+	VDAFMS                                                              // FMS/RNAV system
+)
+
+func ParseVerticalDataAvailableSourceIndicator(data []byte) VerticalDataAvailableSourceIndicator {
+	return VerticalDataAvailableSourceIndicator((data[0]&0x01)<<1 + (data[1]&0x80)>>7)
+}
+
+// TargetAltitudeType is the Target Altitude Type definition
+//
+// Specified in Doc 9871 / B.2.3.9.4
+type TargetAltitudeType byte
+
+const (
+	TATReferencedToPressureAltitude   TargetAltitudeType = iota // Referenced to pressure-altitude (flight level)
+	TATReferencedToBarometricAltitude                           // Referenced to barometric corrected altitude (mean sea level)
+)
+
+// ReadTargetAltitudeType reads the TargetAltitudeType from a 56 bits data field
+func ParseTargetAltitudeType(data []byte) TargetAltitudeType {
+	return TargetAltitudeType((data[1] & 0x40) >> 6)
+}
+
+// TargetAltitudeCapability is the Target Altitude Capability definition
+//
+// Specified in Doc 9871 / B.2.3.9.5
+type TargetAltitudeCapability byte
+
+const (
+	TACAltitudeOnly             TargetAltitudeCapability = iota // Holding altitude only
+	TACAltitudeOrAutopilot                                      // Either holding altitude or autopilot control panel selected altitude
+	TACAltitudeOrAutopilotOrFMS                                 // Either holding altitude, autopilot control panel selected altitude, or any FMS/RNAV level-off altitude
+	TACReserved3                                                // Reserved
+)
+
+// ParseTargetAltitudeCapability reads the TargetAltitudeCapability from a 56 bits data field
+func ParseTargetAltitudeCapability(data []byte) TargetAltitudeCapability {
+	return TargetAltitudeCapability((data[1] & 0x18) >> 3)
+}
+
+// VerticalModeIndicator is the Vertical Mode Indicator definition
+//
+// Specified in Doc 9871 / B.2.3.9.6
+type VerticalModeIndicator byte
+
+const (
+	VMIUnknown       VerticalModeIndicator = iota // Unknown mode or information unavailable
+	VMIAcquiringMode                              //  Acquiring Mode
+	VMICapturingMode                              // Capturing or Maintaining Mode
+	VMIReserved3                                  // Reserved
+)
+
+// ParseVerticalModeIndicator reads the VerticalModeIndicator from a 56 bits data field
+func ParseVerticalModeIndicator(data []byte) VerticalModeIndicator {
+	return VerticalModeIndicator((data[1] & 0x06) >> 1)
+}
+
+// HorizontalDataAvailableSourceIndicator is the Horizontal Data Available / Source Indicator definition
+//
+// Specified in Doc 9871 / B.2.3.9.8
+type HorizontalDataAvailableSourceIndicator byte
+
+const (
+	HDANoValidDataAvailable HorizontalDataAvailableSourceIndicator = iota // No data available
+	HDAAutopilot                                                          // Autopilot control panel selected value, such as Mode Control Panel (MCP) or Flight Control Unit (FCU)
+	HDAHoldingAltitude                                                    // Maintaining current heading or track angle (e.g. autopilot mode select)
+	HDAFMS                                                                // FMS/RNAV system (indicates track angle specified by leg type)
+)
+
+// ParseHorizontalDataAvailableSourceIndicator reads the HorizontalDataAvailableSourceIndicator from a 56 bits data field
+func ParseHorizontalDataAvailableSourceIndicator(data []byte) HorizontalDataAvailableSourceIndicator {
+	return HorizontalDataAvailableSourceIndicator((data[3] & 0x60) >> 5)
+}
+
+// TargetHeadingTrackIndicator is the Target Heading / Track Angle Indicator definition
+//
+// Specified in Doc 9871 / B.2.3.9.10
+type TargetHeadingTrackIndicator byte
+
+const (
+	TargetTrackHeadingAngle TargetHeadingTrackIndicator = iota // Target heading angle is being reported
+	TargetTrackAngle                                           // Track angle is being reported
+
+)
+
+// ParseTargetHeadingTrackIndicator reads the TargetHeadingTrackIndicator from a 56 bits data field
+func ParseTargetHeadingTrackIndicator(data []byte) TargetHeadingTrackIndicator {
+	return TargetHeadingTrackIndicator((data[4] & 0x08) >> 3)
+}
+
+// ReadTargetHeadingTrackAngle reads the TargetAltitude from a 56 bits data field
+// Specified in Doc 9871 / B.2.3.9.9
+func ReadTargetHeadingTrackAngle(data []byte) (uint16, NumericValueStatus) {
+	heading := (uint16(data[3]&0x1F)<<8 | uint16(data[2]&0xF0)) >> 4
+	if heading > 359 {
+		return 0, NVSMaximum
+	}
+	return heading, NVSRegular
+}
+
+// HorizontalModeIndicator is the Horizontal Mode Indicator definition
+//
+// Specified in Doc 9871 / B.2.3.9.11
+type HorizontalModeIndicator byte
+
+const (
+	HMIUnknown       HorizontalModeIndicator = iota // Unknown mode or information unavailable
+	HMIAcquiringMode                                // Acquiring Mode
+	HMICapturingMode                                // Capturing or Maintaining Mode
+	HMIReserved3                                    // Reserved
+)
+
+// ParseHorizontalModeIndicator reads the HorizontalModeIndicator from a 56 bits data field
+func ParseHorizontalModeIndicator(data []byte) HorizontalModeIndicator {
+	return HorizontalModeIndicator((data[4] & 0x06) >> 1)
+}
+
+// NavigationalAccuracyCategoryPositionV1 is the Navigational Accuracy Category Position definition
+//
+// Specified in Doc 9871 / B.2.3.9.12
+type NavigationalAccuracyCategoryPositionV1 byte
+
+const (
+	NACPV1EPUGreaterThan18Point52Km          NavigationalAccuracyCategoryPositionV1 = iota // EPU >= 18.52 km (10 NM) - Unknown accuracy
+	NACPV1EPULowerThan18Point52Km                                                          // EPU < 18.52 km (10 NM) - RNP-10 accuracy
+	NACPV1EPULowerThan7Point408Km                                                          // EPU < 7.408 km (4 NM) - RNP-4 accuracy
+	NACPV1EPULowerThan3Point704Km                                                          // EPU < 3.704 km (2 NM) - RNP-2 accuracy
+	NACPV1EPUGreaterThan1852M                                                              // EPU < 1 852 m (1 NM) - RNP-1 accuracy
+	NACPV1EPULowerThan926M                                                                 // EPU < 926 m (0.5 NM) - RNP-0.5 accuracy
+	NACPV1EPUGreaterThan555Point6M                                                         // EPU < 555.6 m ( 0.3 NM) - RNP-0.3 accuracy
+	NACPV1EPULowerThan185Point2M                                                           // EPU < 185.2 m (0.1 NM) - RNP-0.1 accuracy
+	NACPV1EPUGreaterThan92Point6M                                                          // EPU < 92.6 m (0.05 NM) - e.g. GPS (with SA)
+	NACPV1EPULowerThan30MAndVEPULowerThan45M                                               // EPU < 30 m and VEPU < 45 m - e.g. GPS (SA off)
+	NACPV1EPULowerThan10MAndVEPULowerThan15M                                               // EPU < 10 m and VEPU < 15 m - e.g. WAAS
+	NACPV1EPULowerThan4MAndVEPULowerThan3M                                                 // EPU < 3 m and VEPU < 4 m - e.g. LAAS
+	NACPV1Reserved12                                                                       // Reserved
+	NACPV1Reserved13                                                                       // Reserved
+	NACPV1Reserved14                                                                       // Reserved
+	NACPV1Reserved15                                                                       // Reserved
+)
+
+// ParseNavigationalAccuracyCategoryPositionV1 reads the NavigationalAccuracyCategoryPositionV1 from a 56 bits data field
+func ParseNavigationalAccuracyCategoryPositionV1(data []byte) NavigationalAccuracyCategoryPositionV1 {
+	return NavigationalAccuracyCategoryPositionV1((data[4]&0x01)<<3 + (data[5]&0xE0)>>5)
+}
+
+// NICBaro is the NIC Baro definition
+//
+// Specified in Doc 9871 / B.2.3.9.13
+type NICBaro byte
+
+const (
+	// NICBGilhamNotCrossChecked indicates that the barometric altitude that is being reported in the Airborne
+	// Position Message is based on a Gilham coded input that has not been cross-checked against another source of
+	// pressure-altitude
+	NICBGilhamNotCrossChecked NICBaro = iota
+	// NICBGilhamCrossCheckedOrNonGilham indicates that the barometric altitude that is being reported in the Airborne
+	// Position Message is either based on a Gilham code input that has been cross-checked against another source of
+	// pressure-altitude and verified as being consistent, or is based on a non-Gilham coded source
+	NICBGilhamCrossCheckedOrNonGilham
+)
+
+// ParseNICBaro reads the NICBaro from a 56 bits data field
+func ParseNICBaro(data []byte) NICBaro {
+	return NICBaro((data[5] & 0x10) >> 4)
+}
--- a/protocol/adsb/fields/util.go
+++ b/protocol/adsb/fields/util.go
@@ -0,0 +1,78 @@
+package fields
+
+import "errors"
+
+// GillhamToAltitude convert an altitude given in Gillham bits to an altitude in feet.
+func GillhamToAltitude(d1, d2, d4, a1, a2, a4, b1, b2, b4, c1, c2, c4 bool) (int32, error) {
+	fiveHundredBits := uint16(0)
+	if d1 {
+		fiveHundredBits |= 0x0100
+	}
+	if d2 {
+		fiveHundredBits |= 0x0080
+	}
+	if d4 {
+		fiveHundredBits |= 0x0040
+	}
+	if a1 {
+		fiveHundredBits |= 0x0020
+	}
+	if a2 {
+		fiveHundredBits |= 0x0010
+	}
+	if a4 {
+		fiveHundredBits |= 0x0008
+	}
+	if b1 {
+		fiveHundredBits |= 0x0004
+	}
+	if b2 {
+		fiveHundredBits |= 0x0002
+	}
+	if b4 {
+		fiveHundredBits |= 0x0001
+	}
+
+	oneHundredBits := uint16(0)
+	if c1 {
+		oneHundredBits |= 0x0004
+	}
+	if c2 {
+		oneHundredBits |= 0x0002
+	}
+	if c4 {
+		oneHundredBits |= 0x0001
+	}
+
+	oneHundred := int32(grayToBinary(oneHundredBits))
+	fiveHundred := int32(grayToBinary(fiveHundredBits))
+
+	// Check for invalid codes.
+	if oneHundred == 5 || oneHundred == 6 || oneHundred == 0 {
+		return 0, errors.New("the bits C1 to to C4 are incorrect")
+	}
+
+	// Remove 7s from OneHundreds.
+	if oneHundred == 7 {
+		oneHundred = 5
+	}
+
+	// Correct order of OneHundreds.
+	if fiveHundred%2 != 0 {
+		oneHundred = 6 - oneHundred
+	}
+
+	// Convert to feet and apply altitude datum offset.
+	return (int32(fiveHundred)*500 + int32(oneHundred)*100) - 1300, nil
+}
+
+func grayToBinary(num uint16) uint16 {
+	temp := uint16(0)
+
+	temp = num ^ (num >> 8)
+	temp ^= temp >> 4
+	temp ^= temp >> 2
+	temp ^= temp >> 1
+
+	return temp
+}
--- a/protocol/adsb/fields/util_test.go
+++ b/protocol/adsb/fields/util_test.go
@@ -0,0 +1,52 @@
+package fields
+
+import "testing"
+
+func TestGillhamToAltitude(t *testing.T) {
+
+	tests := []struct {
+		Test string
+		Want int32
+	}{
+		{"00000000010", -1000},
+		{"00000001010", -500},
+		{"00000011010", 0},
+		{"00000011110", 100},
+		{"00000010011", 600},
+		{"00000110010", 1000},
+		{"00001001001", 5800},
+		{"00011100100", 10300},
+		{"01100011010", 32000},
+		{"01110000100", 46300},
+		{"10000000011", 126600},
+		{"10000000001", 126700},
+	}
+
+	for _, test := range tests {
+		t.Run(test.Test, func(t *testing.T) {
+			alt, err := GillhamToAltitude(testString2Bits(test.Test))
+			if err != nil {
+				t.Fatalf("%v", err)
+			}
+			if alt != test.Want {
+				t.Errorf("expected altitude %d, got %d", test.Want, alt)
+			}
+		})
+	}
+}
+
+func testString2Bits(s string) (bool, bool, bool, bool, bool, bool, bool, bool, bool, bool, bool, bool) {
+	d2 := s[0] == '1'
+	d4 := s[1] == '1'
+	a1 := s[2] == '1'
+	a2 := s[3] == '1'
+	a4 := s[4] == '1'
+	b1 := s[5] == '1'
+	b2 := s[6] == '1'
+	b4 := s[7] == '1'
+	c1 := s[8] == '1'
+	c2 := s[9] == '1'
+	c4 := s[10] == '1'
+
+	return false, d2, d4, a1, a2, a4, b1, b2, b4, c1, c2, c4
+}
--- a/protocol/adsb/message.go
+++ b/protocol/adsb/message.go
@@ -0,0 +1,527 @@
+package adsb
+
+import (
+	"errors"
+	"fmt"
+	"io"
+
+	"git.maze.io/go/ham/protocol/adsb/fields"
+)
+
+var (
+	ErrLength     = errors.New("adsb: the supplied data must be 7 bytes long")
+	ErrFormatType = errors.New("adsb: invalid format type code")
+	ErrSubType    = errors.New("adsb: invalid sub type code")
+)
+
+type Payload interface {
+	UnmarshalBytes([]byte) error
+}
+
+type Message []byte
+
+// FormatType returns the format type code
+//
+// Code   BDS  Description           V0      V1      V2
+//
+//	0      ?   No Position
+//	1     0,8  Aircraft Id           OK      OK      OK
+//	2     0,8  Aircraft Id           OK      OK      OK
+//	3     0,8  Aircraft Id           OK      OK      OK
+//	4     0,8  Aircraft Id           OK      OK      OK
+//	5     0,6  Surface position      OK      OK      OK
+//	6     0,6  Surface position      OK      OK      OK
+//	7     0,6  Surface position      OK      OK      OK
+//	8     0,6  Surface position      OK      OK      OK
+//	9     0,5  Airborne position     OK      OK      OK
+//
+// 10     0,5  Airborne position     OK      OK      OK
+// 14     0,5  Airborne position     OK      OK      OK
+// 12     0,5  Airborne position     OK      OK      OK
+// 13     0,5  Airborne position     OK      OK      OK
+// 14     0,5  Airborne position     OK      OK      OK
+// 15     0,5  Airborne position     OK      OK      OK
+// 16     0,5  Airborne position     OK      OK      OK
+// 17     0,5  Airborne position     OK      OK      OK
+// 18     0,5  Airborne position     OK      OK      OK
+// 19     0,9  Airborne velocity     OK      OK      OK
+// 20     0,5  Airborne position     OK      OK      OK
+// 21     0,5  Airborne position     OK      OK      OK
+// 22     0,5  Airborne position     OK      OK      OK
+// 23          Reserved
+// 24          Reserved
+// 25          Reserved
+// 26          Reserved
+// 27          Reserved
+// 28     6,1  Emergency report      OK      OK      OK
+// 29     6,2  Target and status     __      OK      OK
+// 30          Reserved
+// 31     6,5  Operational status    OK      OK      OK
+func (msg Message) FormatType() byte {
+	if len(msg) < 7 {
+		return 0
+	}
+	return (msg[0] & 0xF8) >> 3
+}
+
+func (msg Message) Payload() (Payload, error) {
+	var payload Payload
+	switch formatType := msg.FormatType(); formatType {
+	case 0:
+		if msg[2]&0x0F == 0 && msg[3] == 0 && msg[4] == 0 && msg[5] == 0 && msg[6] == 0 {
+			payload = new(NoPositionInformation)
+		} else {
+			payload = new(AirbornePositionType0)
+		}
+
+	case 1, 2, 3, 4:
+		payload = new(AircraftIdentificationAndCategory)
+
+	case 5, 6, 7, 8:
+		payload = new(SurfacePosition)
+
+	case 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22:
+		payload = new(AirbornePosition)
+
+	case 19:
+		// check sub type
+		switch subType := msg[0] & 0x07; subType {
+		case 1:
+			payload = new(AirborneVelocityAirSpeedNormal)
+		case 2:
+			payload = new(AirborneVelocityAirSpeedSupersonic)
+		case 3:
+			payload = new(AirborneVelocityGroundSpeedNormal)
+		case 4:
+			payload = new(AirborneVelocityGroundSpeedSupersonic)
+		default:
+			return nil, fmt.Errorf("adsb: invalid airborne velocity sub type %d", subType)
+		}
+
+	case 28:
+		switch subType := msg[0] & 0x07; subType {
+		case 0:
+			payload = new(AircraftStatusNoInformation)
+		case 1:
+			payload = new(AircraftStatusEmergency)
+		case 2:
+			payload = new(AircraftStatusACAS)
+		default:
+			return nil, fmt.Errorf("adsb: invalid aircraft status sub type %d", subType)
+		}
+
+	case 29:
+		switch subType := (msg[0] & 0x06) >> 1; subType {
+		case 0:
+			payload = new(TargetStateAndStatus0)
+		case 1:
+			payload = new(TargetStateAndStatus1)
+		default:
+			return nil, fmt.Errorf("adsb: invalid target state and status sub type %d", subType)
+		}
+
+	case 31:
+		payload = new(AircraftOperationalStatus)
+
+	default:
+		return nil, fmt.Errorf("adsb: the format type code %d is not supported", formatType)
+	}
+
+	if err := payload.UnmarshalBytes(msg); err != nil {
+		return nil, err
+	}
+
+	return payload, nil
+}
+
+type NoPositionInformation struct {
+	FormatType                  byte
+	AltitudeBarometric          int32
+	NavigationIntegrityCategory byte
+}
+
+func (msg *NoPositionInformation) UnmarshalBytes(data []byte) error {
+	if len(data) != 7 {
+		return ErrLength
+	}
+
+	// Update the first byte to have a standard BDS code 0,5 (Airborne position with baro altitude) - format 15
+	temp := []byte{0x78, data[1], data[2], 0, 0, 0, 0}
+	var pos AirbornePosition
+	if err := pos.UnmarshalBytes(temp); err != nil {
+		return err
+	}
+
+	msg.FormatType = pos.FormatType
+	msg.AltitudeBarometric = pos.AltitudeInFeet
+	msg.NavigationIntegrityCategory = 0
+
+	return nil
+}
+
+// AirbornePosition is a message at the format BDS 0,5
+type AirbornePosition struct {
+	FormatType                     byte
+	SurveillanceStatus             fields.SurveillanceStatus
+	HasDualAntenna                 bool
+	AltitudeSource                 fields.AltitudeSource
+	AltitudeReportMethod           fields.AltitudeReportMethod
+	AltitudeInFeet                 int32
+	TimeSynchronizedToUTC          bool
+	CompactPositionReportingFormat fields.CompactPositionReportingFormat
+	EncodedLatitude                uint32
+	EncodedLongitude               uint32
+}
+
+func (msg *AirbornePosition) UnmarshalBytes(data []byte) error {
+	if len(data) != 7 {
+		return ErrLength
+	}
+
+	msg.FormatType = Message(data).FormatType()
+	if msg.FormatType < 9 || msg.FormatType > 22 || msg.FormatType == 19 {
+		return ErrFormatType
+	}
+
+	var err error
+	if msg.AltitudeInFeet, msg.AltitudeSource, msg.AltitudeReportMethod, err = fields.ParseAltitude(data); err != nil {
+		return err
+	}
+
+	return nil
+}
+
+type AirbornePositionType0 struct {
+	FormatTypeCode              byte
+	NavigationIntegrityCategory byte
+	AirbornePosition
+}
+
+func (msg *AirbornePositionType0) UnmarshalBytes(data []byte) error {
+	// Update the first byte to have a standard BDS code 0,5 (Airborne position with baro altitude) - format 22
+	temp := []byte{0xB0, data[1], data[2], data[3], data[4], data[5], data[6]}
+
+	if err := msg.AirbornePosition.UnmarshalBytes(temp); err != nil {
+		return err
+	}
+
+	msg.NavigationIntegrityCategory = 0
+
+	return nil
+}
+
+type AircraftIdentificationAndCategory struct {
+	FormatType     byte
+	CategorySet    byte
+	Category       byte
+	Identification string
+}
+
+func (msg *AircraftIdentificationAndCategory) UnmarshalBytes(data []byte) error {
+	if len(data) < 7 {
+		return io.ErrUnexpectedEOF
+	}
+
+	msg.FormatType = Message(data).FormatType()
+	for msg.FormatType < 1 || msg.FormatType > 4 {
+		return ErrFormatType
+	}
+
+	msg.Category = data[0] & 0x07
+	switch msg.FormatType {
+	case 1:
+		msg.CategorySet = 'D'
+	case 2:
+		msg.CategorySet = 'C'
+	case 3:
+		msg.CategorySet = 'B'
+	default:
+		msg.CategorySet = 'A'
+	}
+
+	// Get the codes
+	codes := make([]byte, 8)
+	codes[0] = (data[1] & 0xFC) >> 2
+	codes[1] = (data[1]&0x03)<<4 + (data[2]&0xF0)>>4
+	codes[2] = (data[2]&0x0F)<<2 + (data[3]&0xC0)>>6
+	codes[3] = data[3] & 0x3F
+	codes[4] = (data[4] & 0xFC) >> 2
+	codes[5] = (data[4]&0x03)<<4 + (data[5]&0xF0)>>4
+	codes[6] = (data[5]&0x0F)<<2 + (data[6]&0xC0)>>6
+	codes[7] = data[6] & 0x3F
+
+	// Convert the codes to actual char
+	chars := make([]byte, 8)
+	for i, code := range codes {
+		chars[i] = identificationCharacterCoding[code]
+	}
+
+	msg.Identification = string(chars)
+
+	return nil
+}
+
+type SurfacePosition struct {
+	FormatType                     byte
+	MovementStatus                 fields.MovementStatus
+	MovementSpeed                  float64
+	GroundTrackStatus              bool
+	GroundTrack                    float64
+	TimeSynchronizedToUTC          bool
+	CompactPositionReportingFormat fields.CompactPositionReportingFormat
+	EncodedLatitude                fields.EncodedLatitude
+	EncodedLongitude               fields.EncodedLongitude
+}
+
+func (msg *SurfacePosition) UnmarshalBytes(data []byte) error {
+	if len(data) != 7 {
+		return ErrLength
+	}
+
+	msg.FormatType = (data[0] & 0xF8) >> 3
+	if msg.FormatType < 5 || msg.FormatType > 8 {
+		return ErrFormatType
+	}
+
+	msg.MovementSpeed, msg.MovementStatus = fields.ParseMovementStatus(data)
+	msg.GroundTrack, msg.GroundTrackStatus = fields.ParseGroundTrackStatus(data)
+	msg.TimeSynchronizedToUTC = fields.ParseTimeSynchronizedToUTC(data)
+	msg.CompactPositionReportingFormat = fields.ParseCompactPositioningReportFormat(data)
+	msg.EncodedLatitude = fields.ParseEncodedLatitude(data)
+	msg.EncodedLongitude = fields.ParseEncodedLongitude(data)
+
+	return nil
+}
+
+type AirborneVelocity struct {
+	FormatType                    byte
+	SubType                       byte
+	IntentChange                  bool
+	IFRCapability                 bool
+	NavigationUncertaintyCategory fields.NavigationUncertaintyCategory
+	MagneticHeadingStatus         bool
+	MagneticHeading               float64
+	AirspeedStatus                fields.NumericValueStatus
+	Airspeed                      uint16
+	VerticalRateSource            fields.VerticalRateSource
+	VerticalRateStatus            fields.NumericValueStatus
+	VerticalRate                  int16
+}
+
+// AirborneVelocityGroundSpeedNormal is a message at the format BDS 9,0
+type AirborneVelocityGroundSpeedNormal struct {
+	AirborneVelocity
+	DirectionEastWest                fields.DirectionEastWest
+	VelocityEWStatus                 fields.NumericValueStatus
+	VelocityEW                       uint16
+	DirectionNorthSouth              fields.DirectionNorthSouth
+	VelocityNSStatus                 fields.NumericValueStatus
+	VelocityNS                       uint16
+	DifferenceAltitudeGNSSBaroStatus fields.NumericValueStatus
+	DifferenceAltitudeGNSSBaro       int16
+}
+
+func (msg *AirborneVelocityGroundSpeedNormal) UnmarshalBytes(data []byte) error {
+	if err := msg.unmarshalBytes(data, 1); err != nil {
+		return err
+	}
+
+	msg.Airspeed, msg.AirspeedStatus = fields.ParseAirspeedSupersonic(data)
+	msg.DirectionEastWest = fields.ParseDirectionEastWest(data)
+	msg.VelocityEW, msg.VelocityEWStatus = fields.ParseVelocityEastWestNormal(data)
+	msg.DirectionNorthSouth = fields.ParseDirectionNorthSouth(data)
+	msg.VelocityNS, msg.VelocityNSStatus = fields.ParseVelocityNorthSouthNormal(data)
+	msg.DifferenceAltitudeGNSSBaro, msg.DifferenceAltitudeGNSSBaroStatus = fields.ParseHeightDifferenceFromBaro(data)
+
+	return nil
+}
+
+// AirborneVelocityGroundSpeedSupersonic is a message at the format BDS 9,0
+type AirborneVelocityGroundSpeedSupersonic struct {
+	AirborneVelocity
+	DirectionEastWest                fields.DirectionEastWest
+	VelocityEWStatus                 fields.NumericValueStatus
+	VelocityEW                       uint16
+	DirectionNorthSouth              fields.DirectionNorthSouth
+	VelocityNSStatus                 fields.NumericValueStatus
+	VelocityNS                       uint16
+	DifferenceAltitudeGNSSBaroStatus fields.NumericValueStatus
+	DifferenceAltitudeGNSSBaro       int16
+}
+
+func (msg *AirborneVelocityGroundSpeedSupersonic) UnmarshalBytes(data []byte) error {
+	if err := msg.unmarshalBytes(data, 2); err != nil {
+		return err
+	}
+
+	msg.Airspeed, msg.AirspeedStatus = fields.ParseAirspeedSupersonic(data)
+	msg.DirectionEastWest = fields.ParseDirectionEastWest(data)
+	msg.VelocityEW, msg.VelocityEWStatus = fields.ParseVelocityEastWestSupersonic(data)
+	msg.DirectionNorthSouth = fields.ParseDirectionNorthSouth(data)
+	msg.VelocityNS, msg.VelocityNSStatus = fields.ParseVelocityNorthSouthSupersonic(data)
+	msg.DifferenceAltitudeGNSSBaro, msg.DifferenceAltitudeGNSSBaroStatus = fields.ParseHeightDifferenceFromBaro(data)
+
+	return nil
+}
+
+type AirborneVelocityAirSpeedNormal struct {
+	AirborneVelocity
+	HeightDifferenceFromBaroStatus fields.NumericValueStatus
+	HeightDifferenceFromBaro       int16
+}
+
+func (msg *AirborneVelocity) unmarshalBytes(data []byte, subType byte) error {
+	if len(data) != 7 {
+		return ErrLength
+	}
+
+	msg.FormatType = (data[0] & 0xF8) >> 3
+	if msg.FormatType != 19 {
+		return ErrFormatType
+	}
+
+	msg.SubType = data[0] & 0x07
+	if msg.SubType != subType {
+		return ErrSubType
+	}
+
+	msg.IntentChange = fields.ParseIntentChange(data)
+	msg.IFRCapability = fields.ParseIFRCapability(data)
+	msg.NavigationUncertaintyCategory = fields.ParseeNavigationUncertaintyCategory(data)
+	msg.MagneticHeading, msg.MagneticHeadingStatus = fields.ParseMagneticHeading(data)
+	msg.VerticalRateSource = fields.ParseVerticalRateSource(data)
+	msg.VerticalRate, msg.VerticalRateStatus = fields.ParseVerticalRate(data)
+
+	return nil
+}
+
+func (msg *AirborneVelocityAirSpeedNormal) UnmarshalBytes(data []byte) error {
+	if err := msg.unmarshalBytes(data, 3); err != nil {
+		return err
+	}
+
+	msg.Airspeed, msg.AirspeedStatus = fields.ParseAirspeedNormal(data)
+	msg.HeightDifferenceFromBaro, msg.HeightDifferenceFromBaroStatus = fields.ParseHeightDifferenceFromBaro(data)
+
+	return nil
+}
+
+type AirborneVelocityAirSpeedSupersonic struct {
+	AirborneVelocity
+	HeightDifferenceFromBaroStatus fields.NumericValueStatus
+	HeightDifferenceFromBaro       int16
+}
+
+func (msg *AirborneVelocityAirSpeedSupersonic) UnmarshalBytes(data []byte) error {
+	if err := msg.unmarshalBytes(data, 4); err != nil {
+		return err
+	}
+
+	msg.Airspeed, msg.AirspeedStatus = fields.ParseAirspeedSupersonic(data)
+	msg.HeightDifferenceFromBaro, msg.HeightDifferenceFromBaroStatus = fields.ParseHeightDifferenceFromBaro(data)
+
+	return nil
+}
+
+type AircraftStatusNoInformation struct {
+	FormatType              byte
+	SubType                 byte
+	EmergencyPriorityStatus fields.EmergencyPriorityStatus
+}
+
+func (msg *AircraftStatusNoInformation) UnmarshalBytes(data []byte) error {
+	if len(data) != 7 {
+		return ErrLength
+	}
+
+	msg.FormatType = (data[0] & 0xF8) >> 3
+	if msg.FormatType != 28 {
+		return ErrFormatType
+	}
+
+	msg.SubType = data[0] & 0x07
+	if msg.SubType != 0 {
+		return ErrSubType
+	}
+
+	msg.EmergencyPriorityStatus = fields.ParseEmergencyPriorityStatus(data)
+	return nil
+}
+
+type AircraftStatusEmergency struct {
+	FormatType              byte
+	SubType                 byte
+	EmergencyPriorityStatus fields.EmergencyPriorityStatus
+	ModeACode               uint16
+}
+
+func (msg *AircraftStatusEmergency) UnmarshalBytes(data []byte) error {
+	if len(data) != 7 {
+		return ErrLength
+	}
+
+	msg.FormatType = (data[0] & 0xF8) >> 3
+	if msg.FormatType != 28 {
+		return ErrFormatType
+	}
+
+	msg.SubType = data[0] & 0x07
+	if msg.SubType != 1 {
+		return ErrSubType
+	}
+
+	msg.EmergencyPriorityStatus = fields.ParseEmergencyPriorityStatus(data)
+	msg.ModeACode = uint16((data[1]&0x1F)<<8) | uint16(data[2])
+
+	return nil
+}
+
+type AircraftStatusACAS struct {
+	FormatType         byte
+	SubType            byte
+	ResolutionAdvisory ResolutionAdvisory
+}
+
+type TargetStateAndStatus0 struct {
+	FormatType                             byte
+	SubType                                byte
+	VerticalDataAvailableSourceIndicator   fields.VerticalDataAvailableSourceIndicator
+	TargetAltitudeType                     fields.TargetAltitudeType
+	TargetAltitudeCapability               fields.TargetAltitudeCapability
+	VerticalModeIndicator                  fields.VerticalModeIndicator
+	TargetAltitudeStatus                   fields.NumericValueStatus
+	TargetAltitude                         int32
+	HorizontalDataAvailableSourceIndicator fields.HorizontalDataAvailableSourceIndicator
+	TargetHeadingTrackAngleStatus          fields.NumericValueStatus
+	TargetHeadingTrackAngle                uint16
+	TargetHeadingTrackIndicator            fields.TargetHeadingTrackIndicator
+	HorizontalModeIndicator                fields.HorizontalModeIndicator
+	NavigationalAccuracyCategoryPosition   fields.NavigationalAccuracyCategoryPositionV1
+	NICBaro                                fields.NICBaro
+	SurveillanceIntegrityLevel             fields.SurveillanceIntegrityLevel
+	CapabilityModeCode                     fields.CapabilityModeCode
+	EmergencyPriorityStatus                fields.EmergencyPriorityStatus
+}
+
+func (msg *TargetStateAndStatus0) UnmarshalBytes(data []byte) error {
+	if len(data) != 7 {
+		return ErrLength
+	}
+
+	msg.FormatType = (data[0] & 0xF8) >> 3
+	if msg.FormatType != 29 {
+		return ErrFormatType
+	}
+
+	msg.SubType = (data[0] & 0x06) >> 1
+	if msg.SubType != 0 {
+		return ErrSubType
+	}
+}
+
+var identificationCharacterCoding = []byte{
+	'#', 'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H', 'I', 'J', 'K', 'L', 'M', 'N', 'O',
+	'P', 'Q', 'R', 'S', 'T', 'U', 'V', 'W', 'X', 'Y', 'Z', '#', '#', '#', '#', '#',
+	' ', '#', '#', '#', '#', '#', '#', '#', '#', '#', '#', '#', '#', '#', '#', '#',
+	'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '#', '#', '#', '#', '#', '#',
+}
--- a/protocol/adsb/ra.go
+++ b/protocol/adsb/ra.go
@@ -0,0 +1,137 @@
+package adsb
+
+import (
+	"encoding/binary"
+	"errors"
+)
+
+// ResolutionAdvisory is an ACAS message providing information about ResolutionAdvisory
+//
+// Defined at 3.1.2.8.3.1 and 4.3.8.4.2.4
+type ResolutionAdvisory struct {
+	ActiveRA                ActiveResolutionAdvisory
+	RAComplement            RAComplement
+	RATerminatedIndicator   RATerminatedIndicator
+	MultipleThreatEncounter MultipleThreatEncounter
+	ThreatTypeIndicator     ThreatTypeIndicator
+	ThreatIdentityAddress   *ThreatIdentityAddress
+	ThreatIdentityAltitude  *ThreatIdentityAltitude
+	ThreatIdentityRange     *ThreatIdentityRange
+	ThreatIdentityBearing   *ThreatIdentityBearing
+}
+
+// ThreatTypeIndicator indicates the type of information contained in the TID part of the message
+type ThreatTypeIndicator int
+
+// ThreatIdentityAddress is a 3 bytes ICAO Address. The Most Significant Byte of the address
+// is always 0.
+type ThreatIdentityAddress uint32
+
+const (
+	ThreatTypeNoIdentity           ThreatTypeIndicator = iota // No identity data in TID
+	ThreatTypeModeS                                           // Contains a Mode S transponder address
+	ThreatTypeAltitudeRangeBearing                            // Contains altitude, range and bearing data
+	ThreatTypeReserved3                                       // Reserved
+)
+
+// ThreatIdentityAltitude is the altitude of the threat. It is given in 100 feet increment
+type ThreatIdentityAltitude struct {
+	AltitudeValid  bool
+	AltitudeInFeet int32
+}
+
+func parseThreatTypeIndicator(data []byte) ThreatTypeIndicator {
+	return ThreatTypeIndicator((data[2] & 0x0C) >> 2)
+}
+
+// parseThreatIdentityAltitude reads the altitude code from a message
+func parseThreatIdentityAltitude(data []byte) (ThreatIdentityAltitude, error) {
+
+	// Altitude code is a 13 bits fields, so read a uint16
+	// byte         data[2]    |        data[3]        |   data[4]
+	// bit       19 20 21 22 23|24 25 26 27 28 29 30 31|32 33 34 35 36
+	// value     _  _  _  C1 A1|C2 A2 C4 A4  0 B1 D1 B2|D2 B4 D4  _  _
+
+	// Start by D2 B4 D4
+	altitudeCode := uint16(data[4]&0xE0) >> 5
+	// Then pack B1 D1 B2
+	altitudeCode += uint16(data[3]&0x07) << 3
+	// Then C2 A2 C4 A4
+	altitudeCode += uint16(data[3]&0xF0) << 2
+	// Then C1 A1
+	altitudeCode += uint16(data[2]&0x03) << 2
+
+	// Detect invalid altitude
+	if altitudeCode == 0 {
+		return ThreatIdentityAltitude{}, nil
+	}
+
+	c1 := (altitudeCode & 0x0800) != 0
+	a1 := (altitudeCode & 0x0400) != 0
+	c2 := (altitudeCode & 0x0200) != 0
+	a2 := (altitudeCode & 0x0100) != 0
+	c4 := (altitudeCode & 0x0080) != 0
+	a4 := (altitudeCode & 0x0040) != 0
+	b1 := (altitudeCode & 0x0020) != 0
+	d1 := (altitudeCode & 0x0010) != 0
+	b2 := (altitudeCode & 0x0008) != 0
+	d2 := (altitudeCode & 0x0004) != 0
+	b4 := (altitudeCode & 0x0002) != 0
+	d4 := (altitudeCode & 0x0001) != 0
+
+	altitudeFeet, err := gillhamToAltitude(d1, d2, d4, a1, a2, a4, b1, b2, b4, c1, c2, c4)
+	if err != nil {
+		return ThreatIdentityAltitude{}, errors.New("adsb: the altitude field is malformed")
+	}
+
+	return ThreatIdentityAltitude{true, altitudeFeet}, nil
+}
+
+// ThreatIdentityRange is TIDR (threat identity data range subfield). This 7-bit subfield (76-82) shall contain the
+// most recent threat range estimated by ACAS.
+type ThreatIdentityRange byte
+
+func parseThreatIdentityRange(data []byte) ThreatIdentityRange {
+	return ThreatIdentityRange((data[4]&0x1F)<<2 + (data[5]&0xA0)>>6)
+}
+
+// ThreatIdentityBearing is TIDR (threat identity data bearing subfield). This 6-bit subfield (83-88) shall contain the
+// most recent estimated bearing of the threat aircraft, relative to the ACAS aircraft heading.
+type ThreatIdentityBearing byte
+
+func parseThreatIdentityBearing(data []byte) ThreatIdentityBearing {
+	return ThreatIdentityBearing(data[5] & 0x3F)
+}
+
+func parseResolutionAdvisory(data []byte) (*ResolutionAdvisory, error) {
+	if len(data) != 6 {
+		return nil, errors.New("adsb: data for ACAS ResolutionAdvisory must be 6 bytes long")
+	}
+
+	// Format of the message is as follows:
+	//        0                 1                 2                 3                 4                 5
+	//                 |             RAC |  R  R M  T  TID |       TID       |       TID       |       TID       |
+	//       ARA       |   ARA       RAC |  A  A T  T  d d | d d d d d d d d | d d d d d d d d | d d d d d d _ _ |
+	//                 |             RAC |  C  T E  I  TIDA|       TIDA      | TIDA    TIDR    |TIDR     TIDB    |
+	// a a a a a a a a | a a a a a a c c | c c t m i i a a | a a a a a a a a | a a a r r r r r | r r b b b b b b |
+
+	ra := new(ResolutionAdvisory)
+	switch ra.ThreatTypeIndicator = parseThreatTypeIndicator(data); ra.ThreatTypeIndicator {
+	case ThreatTypeModeS:
+		addr := ThreatIdentityAddress((binary.BigEndian.Uint32(data[2:]) >> 2) & 0xFFFFFF)
+		ra.ThreatIdentityAddress = &addr
+
+	case ThreatTypeAltitudeRangeBearing:
+		altitude, err := parseThreatIdentityAltitude(data)
+		if err != nil {
+			return nil, err
+		}
+		ra.ThreatIdentityAltitude = &altitude
+
+		threatRange := parseThreatIdentityRange(data)
+		ra.ThreatIdentityRange = &threatRange
+
+		bearing := parseThreatIdentityBearing(data)
+		ra.ThreatIdentityBearing = &bearing
+	}
+}
--- a/protocol/aprs/_attic/data_mice.go
+++ b/protocol/aprs/_attic/data_mice.go
@@ -0,0 +1,335 @@
+package aprs
+
+import (
+	"fmt"
+	"io"
+	"math"
+	"strings"
+)
+
+type MicE struct {
+	HasMessaging bool       `json:"has_messaging"`
+	Latitude     float64    `json:"latitude"`
+	Longitude    float64    `json:"longitude"`
+	Altitude     float64    `json:"altitude,omitempty"` // Altitude (in meters)
+	Comment      string     `json:"comment"`
+	Symbol       string     `json:"symbol"`
+	Velocity     *Velocity  `json:"velocity,omitempty"`  // Velocity encoded in the payload.
+	Telemetry    *Telemetry `json:"telemetry,omitempty"` // Telemetry data
+}
+
+func (m MicE) String() string {
+	return m.Comment
+}
+
+type micEDecoder struct{}
+
+func (d micEDecoder) CanDecode(frame Frame) bool {
+	switch frame.Raw.Type() {
+	case '`', '\'':
+		return len(frame.Raw) >= 9 && len(frame.Destination.Call) >= 6
+	default:
+		return false
+	}
+}
+
+func (d micEDecoder) Decode(frame Frame) (data Data, err error) {
+	lat, _, longOffset, longDir, err := decodeMicECallsign([]byte(frame.Destination.Call))
+	if err != nil {
+		return nil, err
+	}
+	info := []byte(frame.Raw[1:9])
+	long := decodeMicELongitude(info[:3], longOffset, longDir)
+
+	pos := &MicE{
+		Latitude:  float64(lat),
+		Longitude: float64(long),
+	}
+	pos.Symbol = string([]byte{info[7], info[6]})
+	pos.Velocity = parseMicECourseAndSpeed(info[3:6])
+
+	var comment string
+	if comment, pos.HasMessaging = parseMicERadioModel(string(frame.Raw[9:])); comment != "" {
+		original := comment
+		if pos.Altitude, comment, err = parseMicEAltitude(comment); err != nil {
+			comment = original
+		}
+		if pos.Telemetry, comment, err = parseBase91Telemetry(comment); err != nil {
+			return nil, err
+		}
+		pos.Comment = comment
+	}
+
+	return pos, nil
+}
+
+type micEMessageBit uint8
+
+const (
+	micEMessageBitZero micEMessageBit = iota
+	micEMessageBitCustom
+	micEMessageBitStandard
+	micEMessageBitInvalid
+)
+
+func decodeMicEMessageBit(v uint8) micEMessageBit {
+	switch {
+	case v >= '0' && v <= '9' || v == 'L':
+		return micEMessageBitZero
+	case v >= 'A' && v <= 'K':
+		return micEMessageBitCustom
+	case v >= 'P' && v <= 'Z':
+		return micEMessageBitStandard
+	default:
+		return micEMessageBitInvalid
+	}
+}
+
+type micEPositionCommentType uint8
+
+const (
+	M0 micEPositionCommentType = iota
+	M1
+	M2
+	M3
+	M4
+	M5
+	M6
+	C0
+	C1
+	C2
+	C3
+	C4
+	C5
+	C6
+	Emergency
+	Invalid
+)
+
+var micEPositionCommentTypeMap = map[micEMessageBit]micEPositionCommentType{
+	(0 << 4) | (0 << 2) | 0: Emergency,
+	(1 << 4) | (1 << 2) | 1: C0,
+	(1 << 4) | (1 << 2) | 0: C1,
+	(1 << 4) | (0 << 2) | 1: C2,
+	(1 << 4) | (0 << 2) | 0: C3,
+	(0 << 4) | (1 << 2) | 1: C4,
+	(0 << 4) | (1 << 2) | 0: C5,
+	(0 << 4) | (0 << 2) | 1: C6,
+	(2 << 4) | (2 << 2) | 2: M0,
+	(2 << 4) | (2 << 2) | 0: M1,
+	(2 << 4) | (0 << 2) | 2: M2,
+	(2 << 4) | (0 << 2) | 0: M3,
+	(0 << 4) | (2 << 2) | 2: M4,
+	(0 << 4) | (2 << 2) | 0: M5,
+	(0 << 4) | (0 << 2) | 2: M6,
+}
+
+func decodeMicEPositionCommentType(bits []micEMessageBit) micEPositionCommentType {
+	if v, ok := micEPositionCommentTypeMap[(bits[0]&0x3)<<4|(bits[1]&0x03)<<2|(bits[2]&0x03)]; ok {
+		return v
+	}
+	return Invalid
+}
+
+func decodeMicECallsign(call []byte) (lat Latitude, kind micEPositionCommentType, longOffset int, longDir int, err error) {
+	if len(call) != 6 {
+		err = io.ErrUnexpectedEOF
+		return
+	}
+
+	var latDir byte = 'X'
+	if (call[3] >= '0' && call[3] <= '9') || call[3] == 'L' {
+		latDir = 'S'
+	} else if call[3] >= 'P' && call[3] <= 'Z' {
+		latDir = 'N'
+	}
+
+	latBytes := []byte{
+		decodeLatitudeDigit(call[0]),
+		decodeLatitudeDigit(call[1]),
+		decodeLatitudeDigit(call[2]),
+		decodeLatitudeDigit(call[3]),
+		'.',
+		decodeLatitudeDigit(call[4]),
+		decodeLatitudeDigit(call[5]),
+		latDir,
+	}
+	if err = lat.ParseUncompressed(latBytes); err != nil {
+		return
+	}
+
+	kind = decodeMicEPositionCommentType([]micEMessageBit{
+		decodeMicEMessageBit(call[0]),
+		decodeMicEMessageBit(call[1]),
+		decodeMicEMessageBit(call[2]),
+	})
+
+	switch {
+	case (call[4] >= '0' && call[4] <= '9') || call[4] == 'L':
+		longOffset = 0
+	case call[4] >= 'P' && call[4] <= 'Z':
+		longOffset = 100
+	}
+
+	switch {
+	case (call[5] >= '0' && call[5] <= '9') || call[5] == 'L':
+		longDir = -1
+	case call[5] >= 'P' && call[5] <= 'Z':
+		longDir = +1
+	}
+
+	return
+}
+
+func decodeLatitudeDigit(c uint8) uint8 {
+	switch {
+	case c >= '0' && c <= '9':
+		return c
+	case c >= 'A' && c <= 'J':
+		return c - 17
+	case c == 'K' || c == 'L' || c == 'Z':
+		return ' '
+	case c >= 'P' && c <= 'Y':
+		return c - 32
+	default:
+		return 0
+	}
+}
+
+func decodeMicELongitude(b []byte, offset, dir int) Longitude {
+	if len(b) != 3 {
+		return 0
+	}
+
+	d := int(b[0]) - 28 + offset
+	if d >= 180 && d <= 189 {
+		d -= 80
+	} else if d >= 190 && d <= 199 {
+		d -= 190
+	}
+
+	m := int(b[1] - 28)
+	if m >= 60 {
+		m -= 60
+	}
+
+	h := int(b[2] - 28)
+
+	return LongitudeFromDMH(d, m, h, dir < 0)
+}
+
+func parseMicECourseAndSpeed(data []byte) (out *Velocity) {
+	var (
+		sp         = data[0] - 28
+		dc         = data[1] - 28
+		se         = data[2] - 28
+		speedKnots = float64(sp)*10 + math.Floor(float64(dc)/10)
+		courseDeg  = ((int(dc) % 10) * 100) + int(se)
+	)
+	if speedKnots >= 800 {
+		speedKnots -= 800
+	}
+	if courseDeg >= 400 {
+		courseDeg -= 400
+	}
+	return &Velocity{
+		Course: float64(courseDeg),
+		Speed:  knotsToMetersPerSecond(speedKnots),
+	}
+}
+
+func parseMicEAltitude(data string) (altitude float64, comment string, err error) {
+	if len(data) < 4 || data[3] != '}' {
+		return 0, data, nil
+	}
+
+	var value int
+	if value, err = base91Decode(data[:3]); err != nil {
+		return 0, "", fmt.Errorf("aprs: invalid altitude %q: %v", data, err)
+	}
+
+	altitude = feetToMeters(float64(value - 10000))
+	comment = data[4:]
+	return
+}
+
+func parseMicERadioModel(data string) (stripped string, hasMessaging bool) {
+	if len(data) == 0 {
+		return data, false
+	}
+
+	switch data[0] {
+	case '>', ']':
+		stripped = strings.TrimRight(data[1:], "=") // Kenwood TH-D72 / Kenwood TM-D710
+		stripped = strings.TrimRight(data[1:], "^") // Kenwood TH-D74
+		stripped = strings.TrimRight(data[1:], "&") // Kenwood TH-D75
+	case '`', '\'':
+		hasMessaging = data[0] == '`'
+		stripped = strings.TrimSuffix(data[1:], "_(") // Yaesu FT2D
+		stripped = strings.TrimSuffix(data[1:], "_0") // Yaesu FT3D
+		stripped = strings.TrimSuffix(data[1:], "_3") // Yaesu FT5D
+		stripped = strings.TrimSuffix(data[1:], "|3") // Byonics TinyTrack 3
+		stripped = strings.TrimSuffix(data[1:], "|4") // Byonics TinyTrack 4
+	default:
+		stripped = data
+	}
+	return
+}
+
+func parseMicEGridSquare(data string) (latitude, longitude, altitude float64, comment string, err error) {
+	return
+}
+
+var miceCodes = map[byte]map[int]string{
+	'0': {0: "0", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'1': {0: "1", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'2': {0: "2", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'3': {0: "3", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'4': {0: "4", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'5': {0: "5", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'6': {0: "6", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'7': {0: "7", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'8': {0: "8", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'9': {0: "9", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'A': {0: "0", 1: "1 (Custom)"},
+	'B': {0: "1", 1: "1 (Custom)"},
+	'C': {0: "2", 1: "1 (Custom)"},
+	'D': {0: "3", 1: "1 (Custom)"},
+	'E': {0: "4", 1: "1 (Custom)"},
+	'F': {0: "5", 1: "1 (Custom)"},
+	'G': {0: "6", 1: "1 (Custom)"},
+	'H': {0: "7", 1: "1 (Custom)"},
+	'I': {0: "8", 1: "1 (Custom)"},
+	'J': {0: "9", 1: "1 (Custom)"},
+	'K': {0: " ", 1: "1 (Custom)"},
+	'L': {0: " ", 1: "0", 2: "S", 3: "0", 4: "E"},
+	'P': {0: "0", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'Q': {0: "1", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'R': {0: "2", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'S': {0: "3", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'T': {0: "4", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'U': {0: "5", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'V': {0: "6", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'W': {0: "7", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'X': {0: "8", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'Y': {0: "9", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+	'Z': {0: " ", 1: "1 (Std)", 2: "N", 3: "100", 4: "W"},
+}
+
+var miceMsgTypes = map[string]string{
+	"000":          "Emergency",
+	"001 (Std)":    "Priority",
+	"001 (Custom)": "Custom-6",
+	"010 (Std)":    "Special",
+	"010 (Custom)": "Custom-5",
+	"011 (Std)":    "Committed",
+	"011 (Custom)": "Custom-4",
+	"100 (Std)":    "Returning",
+	"100 (Custom)": "Custom-3",
+	"101 (Std)":    "In Service",
+	"101 (Custom)": "Custom-2",
+	"110 (Std)":    "En Route",
+	"110 (Custom)": "Custom-1",
+	"111 (Std)":    "Off Duty",
+	"111 (Custom)": "Custom-0",
+}
--- a/protocol/aprs/_attic/position.go
+++ b/protocol/aprs/_attic/position.go
@@ -0,0 +1,219 @@
+package aprs
+
+import (
+	"errors"
+	"fmt"
+)
+
+var (
+	ErrLatitude  = errors.New("aprs: invalid latitude")
+	ErrLongitude = errors.New("aprs: invalid longitude")
+)
+
+// Latitude is the north-south position. Positive values are North, negative are South.
+type Latitude float64
+
+func LatitudeFromDMH(degrees, minutes, hundreths int, north bool) Latitude {
+	v := float64(degrees) + float64(minutes)/60 + float64(hundreths)/6000
+
+	for v > 90 {
+		v -= 180
+	}
+	for v < -90 {
+		v += 180
+	}
+
+	if north {
+		return Latitude(v)
+	}
+	return -Latitude(v)
+}
+
+func (lat Latitude) DMH() (degrees, minutes, hundreths int, north bool) {
+	degrees = int(lat)
+	minutes = int((float64(lat) - float64(degrees)) * 60)
+	hundreths = int((float64(lat) - float64(degrees) - float64(minutes)/60) * 6000)
+
+	if hundreths == 100 {
+		hundreths = 0
+		minutes += 1
+	}
+
+	if minutes == 60 {
+		minutes = 0
+		degrees += 1
+	}
+
+	north = lat >= 0
+	return
+}
+
+func (lat *Latitude) ParseCompressed(b []byte) error {
+	if len(b) != 4 {
+		return ErrLatitude
+	}
+
+	n, err := base91Decode(string(b))
+	if err != nil {
+		return err
+	}
+
+	*lat = Latitude(90 - float64(n)/380926)
+	return nil
+}
+
+func (lat *Latitude) ParseUncompressed(b []byte) error {
+	if len(b) != 8 || b[4] != '.' {
+		return ErrLatitude
+	}
+
+	var north bool
+	switch b[7] {
+	case 'N':
+		north = true
+	case 'S':
+		north = false
+	default:
+		return ErrLatitude
+	}
+
+	var (
+		degrees, minutes, hundreths int
+		err                         error
+	)
+	if degrees, err = parseBytesWithSpaces(b[0:2]); err != nil {
+		return err
+	}
+	if minutes, err = parseBytesWithSpaces(b[2:4]); err != nil {
+		return err
+	}
+	if hundreths, err = parseBytesWithSpaces(b[5:7]); err != nil {
+		return err
+	}
+
+	*lat = LatitudeFromDMH(degrees, minutes, hundreths, north)
+
+	return nil
+}
+
+func (lat Latitude) Compressed(b []byte) {
+	v := int((90 - float64(lat)) * 380926.0)
+	base91Encode(b, v)
+}
+
+func (lat Latitude) Uncompressed(b []byte) {
+	var (
+		degrees, minutes, hundreths, north = lat.DMH()
+		v                                  = fmt.Sprintf("%02d%02d.%02d", degrees, minutes, hundreths)
+	)
+	if north {
+		v += "N"
+	} else {
+		v += "S"
+	}
+	copy(b, []byte(b))
+}
+
+// Longitude is the east-west position. Positive values are East, negative are West.
+type Longitude float64
+
+func LongitudeFromDMH(degrees, minutes, hundreths int, east bool) Longitude {
+	v := float64(degrees) + float64(minutes)/60 + float64(hundreths)/6000
+
+	for v > 180 {
+		v -= 360
+	}
+	for v < -180 {
+		v += 360
+	}
+
+	if east {
+		return Longitude(v)
+	}
+	return -Longitude(v)
+}
+
+func (long Longitude) DMH() (degrees, minutes, hundreths int, east bool) {
+	degrees = int(long)
+	minutes = int((float64(long) - float64(degrees)) * 60)
+	hundreths = int((float64(long) - float64(degrees) - float64(minutes)/60) * 6000)
+
+	if hundreths == 100 {
+		hundreths = 0
+		minutes += 1
+	}
+
+	if minutes == 60 {
+		minutes = 0
+		degrees += 1
+	}
+
+	east = long >= 0
+	return
+}
+
+func (long *Longitude) ParseCompressed(b []byte) error {
+	if len(b) != 4 {
+		return ErrLatitude
+	}
+
+	n, err := base91Decode(string(b))
+	if err != nil {
+		return err
+	}
+
+	*long = Longitude(float64(n)/190463.0 - 180)
+	return nil
+}
+
+func (long *Longitude) ParseUncompressed(b []byte) error {
+	if len(b) != 9 || b[5] != '.' {
+		return ErrLongitude
+	}
+
+	var east bool
+	switch b[8] {
+	case 'E':
+		east = true
+	case 'W':
+		east = false
+	default:
+		return ErrLongitude
+	}
+
+	var (
+		degrees, minutes, hundreths int
+		err                         error
+	)
+	if degrees, err = parseBytesWithSpaces(b[0:3]); err != nil {
+		return err
+	}
+	if minutes, err = parseBytesWithSpaces(b[3:5]); err != nil {
+		return err
+	}
+	if hundreths, err = parseBytesWithSpaces(b[6:8]); err != nil {
+		return err
+	}
+
+	*long = LongitudeFromDMH(degrees, minutes, hundreths, east)
+
+	return nil
+}
+
+func (long Longitude) Compressed(b []byte) {
+	v := int((180 + float64(long)) * 190463)
+	base91Encode(b, v)
+}
+
+func (long Longitude) Uncompressed(b []byte) {
+	var (
+		degrees, minutes, hundreths, east = long.DMH()
+		v                                 = fmt.Sprintf("%03d%02d.%02d", degrees, minutes, hundreths)
+	)
+	if east {
+		v += "E"
+	} else {
+		v += "W"
+	}
+	copy(b, []byte(b))
+}
--- a/protocol/aprs/_attic/position_test.go
+++ b/protocol/aprs/_attic/position_test.go
@@ -0,0 +1,53 @@
+package aprs
+
+import "testing"
+
+func TestLatitude(t *testing.T) {
+	tests := []struct {
+		Test string
+		Want Latitude
+	}{
+		{"4903.50N", 49.05833333333333},
+		{"4903.50S", -49.05833333333333},
+		{"4903.5 S", -49.05833333333333},
+		{"4903.  S", -49.05},
+		{"490 .  S", -49},
+		{"4   .  S", -40},
+	}
+	for _, test := range tests {
+		t.Run(test.Test, func(t *testing.T) {
+			var lat Latitude
+			if err := lat.ParseUncompressed([]byte(test.Test)); err != nil {
+				t.Fatal(err)
+			}
+			if !testAlmostEqual(float64(test.Want), float64(lat)) {
+				t.Errorf("expected %f, got %f", test.Want, lat)
+			}
+		})
+	}
+}
+
+func TestLongitude(t *testing.T) {
+	tests := []struct {
+		Test string
+		Want Longitude
+	}{
+		{"00000.00E", 0},
+		{"00000.00W", 0},
+		{"00000.98W", -0.016333},
+		{"00098.  W", -1.633333},
+		{"098  .  W", -98.000000},
+		{"9    .  W", -180.000000},
+	}
+	for _, test := range tests {
+		t.Run(test.Test, func(t *testing.T) {
+			var long Longitude
+			if err := long.ParseUncompressed([]byte(test.Test)); err != nil {
+				t.Fatal(err)
+			}
+			if !testAlmostEqual(float64(test.Want), float64(long)) {
+				t.Errorf("expected %f, got %f", test.Want, long)
+			}
+		})
+	}
+}
--- a/protocol/aprs/aprsis/proxy.go
+++ b/protocol/aprs/aprsis/proxy.go
@@ -217,6 +217,7 @@ func (client *ProxyClient) copy(dst, src net.Conn, host, dir string, call *strin
 func (client *ProxyClient) Info() *radio.Info {
 	// We have very little information actually, but here we go:
 	return &radio.Info{
+		ID:   client.myCall,
 		Name: client.myCall,
 	}
 }
--- a/protocol/meshcore/node.go
+++ b/protocol/meshcore/node.go
@@ -32,8 +32,8 @@ func NewCompanion(conn io.ReadWriteCloser) (*Node, error) {
 	}, nil
 }

-func NewRepeater(conn io.ReadWriteCloser, hasSNR bool) (*Node, error) {
-	driver := newRepeaterDriver(conn, hasSNR)
+func NewRepeater(conn io.ReadWriteCloser) (*Node, error) {
+	driver := newRepeaterDriver(conn)

 	if err := driver.Setup(); err != nil {
 		return nil, err
@@ -60,7 +60,7 @@ func (dev *Node) Info() *radio.Info {
 	return dev.driver.Info()
 }

-func (dev *Node) Stats() map[string]any {
+func (dev *Node) Stats() <-chan map[string]any {
 	return dev.driver.Stats()
 }

@@ -78,7 +78,7 @@ type nodeDriver interface {
 	Setup() error

 	Packets() <-chan *Packet
-	Stats() map[string]any
+	Stats() <-chan map[string]any
 }

 type nodeTracer interface {
--- a/protocol/meshcore/node_companion.go
+++ b/protocol/meshcore/node_companion.go
@@ -47,7 +47,7 @@ type companionDriver struct {
 	info          companionInfo
 	traceTag      uint32
 	traceAuthCode uint32
-	stats         map[string]any
+	stats         chan map[string]any
 }

 type companionDriverWaiting struct {
@@ -131,6 +131,7 @@ func newCompanionDriver(conn io.ReadWriteCloser) *companionDriver {
 		conn:     conn,
 		waiting:  make(chan *companionDriverWaiting, 16),
 		traceTag: rand.Uint32(),
+		stats:    make(chan map[string]any, 2),
 		//traceAuthCode: rand.Uint32(),
 	}
 }
@@ -144,7 +145,7 @@ func (drv *companionDriver) Setup() (err error) {
 	if err = drv.sendAppStart(); err != nil {
 		return
 	}
-	if err = drv.sendDeviceInfo(); err != nil {
+	if err = drv.getDeviceInfo(); err != nil {
 		return
 	}
 	return
@@ -209,7 +210,7 @@ func (drv *companionDriver) Info() *radio.Info {
 	}
 }

-func (drv *companionDriver) Stats() map[string]any {
+func (drv *companionDriver) Stats() <-chan map[string]any {
 	return drv.stats
 }

@@ -397,7 +398,7 @@ func (drv *companionDriver) sendAppStart() (err error) {
 	return
 }

-func (drv *companionDriver) sendDeviceInfo() (err error) {
+func (drv *companionDriver) getDeviceInfo() (err error) {
 	var (
 		args = []byte{0x03}
 		data []byte
@@ -425,6 +426,11 @@ func (drv *companionDriver) sendDeviceInfo() (err error) {
 	return
 }

+func (drv *companionDriver) getPublicKey() (err error) {
+	// TODO
+	return err
+}
+
 func (drv *companionDriver) poll() {
 	for {
 		frame, err := drv.readFrame()
--- a/protocol/meshcore/node_repeater.go
+++ b/protocol/meshcore/node_repeater.go
@@ -3,6 +3,7 @@ package meshcore
 import (
 	"bufio"
 	"encoding/hex"
+	"encoding/json"
 	"fmt"
 	"io"
 	"math"
@@ -23,7 +24,7 @@ type repeaterDriver struct {
 	lastFrame   []byte
 	lastFrameAt time.Time
 	info        repeaterInfo
-	stats       map[string]any
+	stats       chan map[string]any
 	err         error
 }

@@ -78,7 +79,7 @@ type repeaterInfo struct {
 	Type                 NodeType
 	Power                byte // in dBm
 	MaxPower             byte // in dBm
-	PublicKey            [32]byte
+	PublicKey            string
 	Latitude             float64
 	Longitude            float64
 	HasMultiACKs         bool
@@ -98,15 +99,20 @@ type repeaterInfo struct {
 	Manufacturer        string
 }

-func newRepeaterDriver(conn io.ReadWriteCloser, hasSNR bool) *repeaterDriver {
+func newRepeaterDriver(conn io.ReadWriteCloser) *repeaterDriver {
 	return &repeaterDriver{
 		conn:    conn,
 		waiting: make(chan *repeaterDriverWaiting, 16),
-		hasSNR:  hasSNR,
-		stats:   make(map[string]any),
+		stats:   make(chan map[string]any, 2),
 	}
 }

+func newRepeaterDriverWithSNRPatch(conn io.ReadWriteCloser) *repeaterDriver {
+	driver := newRepeaterDriver(conn)
+	driver.hasSNR = true
+	return driver
+}
+
 func (drv *repeaterDriver) Close() error {
 	return drv.conn.Close()
 }
@@ -150,6 +156,7 @@ func (drv *repeaterDriver) Info() *radio.Info {
 	}

 	return &radio.Info{
+		ID:              drv.info.PublicKey,
 		Name:            drv.info.Name,
 		Manufacturer:    manufacturer,
 		Device:          device,
@@ -179,7 +186,7 @@ func (drv *repeaterDriver) RawPackets() <-chan *protocol.Packet {
 	return drv.rawPackets
 }

-func (drv *repeaterDriver) Stats() map[string]any {
+func (drv *repeaterDriver) Stats() <-chan map[string]any {
 	return drv.stats
 }

@@ -193,6 +200,11 @@ func (drv *repeaterDriver) queryDeviceInfo() (err error) {
 		return
 	}

+	// Fetch public key
+	if drv.info.PublicKey, err = drv.writeCommand("get", "public.key"); err != nil {
+		return
+	}
+
 	var line string

 	// Fetch frequency, bandwidth and LoRa settings
@@ -412,24 +424,26 @@ func (drv *repeaterDriver) poll() {
 }

 func (drv *repeaterDriver) pollStats() {
-	ticker := time.NewTicker(time.Minute)
+	ticker := time.NewTicker(time.Second * 10)
 	defer ticker.Stop()

 	for {
+		stats := make(map[string]any)
+
 		neighbors, err := drv.getNeighbors()
 		if err != nil {
 			Logger.Warnf("meshcore: failed to get neighbors: %v", err)
 		} else {
-			drv.stats["neighbors"] = neighbors
+			stats["neighbors"] = neighbors
 		}

-		response, err := drv.writeCommand("stats")
+		response, err := drv.writeCommand("stats-core")
 		if err != nil {
 			Logger.Warnf("meshcore: failed to get stats: %v", err)
 			return
 		}

-		stats := make(map[string]any)
+		neighborStats := make(map[string]any)
 		for _, line := range strings.Split(response, "\n") {
 			parts := strings.SplitN(line, "=", 2)
 			if len(parts) != 2 {
@@ -439,15 +453,53 @@ func (drv *repeaterDriver) pollStats() {
 			value := parts[1]

 			if i, err := strconv.Atoi(value); err == nil {
-				stats[key] = i
+				neighborStats[key] = i
 			} else if f, err := strconv.ParseFloat(value, 64); err == nil {
-				stats[key] = f
+				neighborStats[key] = f
 			} else {
-				stats[key] = value
+				neighborStats[key] = value
 			}
 		}

-		drv.stats = stats
+		var (
+			coreStats   = make(map[string]any)
+			radioStats  = make(map[string]any)
+			packetStats = make(map[string]any)
+		)
+		if response, err := drv.writeCommand("stats-core"); err == nil {
+			if err = json.Unmarshal([]byte(response), &coreStats); err != nil {
+				Logger.Warnf("meshcore: failed to decode core stats: %v", err)
+			}
+		} else {
+			Logger.Warnf("meshcore: failed to get core stats: %v", err)
+		}
+
+		if response, err := drv.writeCommand("stats-radio"); err == nil {
+			if err = json.Unmarshal([]byte(response), &radioStats); err != nil {
+				Logger.Warnf("meshcore: failed to decode radio stats: %v", err)
+			}
+		} else {
+			Logger.Warnf("meshcore: failed to get radio stats: %v", err)
+		}
+
+		if response, err := drv.writeCommand("stats-packets"); err == nil {
+			if err = json.Unmarshal([]byte(response), &packetStats); err != nil {
+				Logger.Warnf("meshcore: failed to decode packet stats: %v", err)
+			}
+		} else {
+			Logger.Warnf("meshcore: failed to get packet stats: %v", err)
+		}
+
+		stats["neighbors"] = neighborStats
+		stats["core"] = coreStats
+		stats["radio"] = radioStats
+		stats["packets"] = packetStats
+
+		select {
+		case drv.stats <- stats:
+		default:
+			Logger.Warn("meshcore: stats channel full, dropping stats")
+		}

 		<-ticker.C
 	}