Fixed code smells

2026-02-22 21:14:58 +01:00
parent 3bcbaf2135
commit 32f6c38c13
17 changed files with 1593 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/base91.go
+++ b/protocol/aprs/base91.go
@@ -2,7 +2,6 @@ package aprs

 import (
 	"fmt"
-	"strings"
 )

 func base91Decode(s string) (n int, err error) {
@@ -18,6 +17,7 @@ func base91Decode(s string) (n int, err error) {
 	return
 }

+/*
 func base91Encode(n int) string {
 	var s []string
 	for n > 0 {
@@ -27,3 +27,4 @@ func base91Encode(n int) string {
 	}
 	return strings.Join(s, "")
 }
+*/
--- a/protocol/aprs/packet.go
+++ b/protocol/aprs/packet.go
@@ -310,7 +310,7 @@ func (p *Packet) parse() error {
 			return err
 		}
 		p.Position = &pos
-		p.parseMicEData()
+		_ = p.parseMicEData()

 		return nil // there is no additional data to parse
 	default:
--- a/protocol/meshcore/crypto/ed25519.go
+++ b/protocol/meshcore/crypto/ed25519.go
@@ -53,7 +53,7 @@ func (priv *PrivateKey) Sign(_ io.Reader, digest []byte, _ crypto.SignerOpts) (s

 func (priv *PrivateKey) Public() crypto.PublicKey {
 	p := &PublicKey{}
-	newPublicKey(p, priv.pub[:])
+	_, _ = newPublicKey(p, priv.pub[:])
 	return p
 }

@@ -118,7 +118,9 @@ func GenerateKey() (*PublicKey, *PrivateKey, error) {
 }

 func generateKey(priv *PrivateKey) (*PrivateKey, error) {
-	rand.Read(priv.seed[:])
+	if _, err := rand.Read(priv.seed[:]); err != nil {
+		return nil, err
+	}
 	precomputePrivateKey(priv)
 	return priv, nil
 }
--- a/protocol/meshcore/node.go
+++ b/protocol/meshcore/node.go
@@ -357,15 +357,6 @@ func (drv *companionDriver) wait(expect ...byte) ([]byte, error) {
 	return wait.Wait()
 }

-func bytesContains(b byte, slice []byte) bool {
-	for _, v := range slice {
-		if v == b {
-			return true
-		}
-	}
-	return false
-}
-
 func (drv *companionDriver) handlePushFrame(b []byte) {
 	if len(b) < 1 {
 		return // illegal
--- a/protocol/meshcore/payload.go
+++ b/protocol/meshcore/payload.go
@@ -10,10 +10,7 @@ import (
 	"git.maze.io/go/ham/protocol/meshcore/crypto"
 )

-var (
-	zeroTime          time.Time
-	zeroPositionBytes = []byte{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
-)
+var zeroPositionBytes = []byte{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}

 type Payload interface {
 	fmt.Stringer
--- a/protocol/meshcore/util.go
+++ b/protocol/meshcore/util.go
@@ -47,10 +47,6 @@ func decodeTime(b []byte) time.Time {
 	return time.Unix(int64(binary.LittleEndian.Uint32(b)), 0).UTC()
 }

-func encodeFrequency(b []byte, f float64) {
-	binary.LittleEndian.PutUint32(b, uint32(f*1e3))
-}
-
 func decodeFrequency(b []byte) float64 {
 	return float64(int64(binary.LittleEndian.Uint32(b))) / 1e3
 }
--- a/protocol/meshtastic/node.go
+++ b/protocol/meshtastic/node.go
@@ -0,0 +1,173 @@
+package meshtastic
+
+import (
+	"crypto/rand"
+	"encoding/binary"
+	"fmt"
+	"math"
+	"math/big"
+	"strconv"
+	"strings"
+)
+
+type NodeID uint32
+
+const (
+	// BroadcastNodeID is the special NodeID used when broadcasting a packet to a channel.
+	BroadcastNodeID NodeID = math.MaxUint32
+
+	// BroadcastNodeIDNoLora is a special broadcast address that excludes LoRa transmission.
+	// Used for MQTT-only broadcasts. This is ^all with the NO_LORA flag (0x40) cleared.
+	BroadcastNodeIDNoLora NodeID = math.MaxUint32 ^ 0x40
+
+	// ReservedNodeIDThreshold is the threshold at which NodeIDs are considered reserved. Random NodeIDs should not
+	// be generated below this threshold.
+	// Source: https://github.com/meshtastic/firmware/blob/d1ea58975755e146457a8345065e4ca357555275/src/mesh/NodeDB.cpp#L461
+	reservedNodeIDThreshold NodeID = 4
+)
+
+// ParseNodeID parses a NodeID from various string formats:
+//   - "!abcd1234" (Meshtastic format with ! prefix)
+//   - "0xabcd1234" (hex with 0x prefix)
+//   - "abcd1234" (plain hex)
+//   - "12345678" (decimal)
+func ParseNodeID(s string) (NodeID, error) {
+	s = strings.TrimSpace(s)
+	if s == "" {
+		return 0, fmt.Errorf("empty node ID string")
+	}
+
+	// Handle !prefix format
+	if strings.HasPrefix(s, "!") {
+		s = s[1:]
+		n, err := strconv.ParseUint(s, 16, 32)
+		if err != nil {
+			return 0, fmt.Errorf("invalid node ID %q: %w", s, err)
+		}
+		return NodeID(n), nil
+	}
+
+	// Handle 0x prefix
+	if strings.HasPrefix(s, "0x") || strings.HasPrefix(s, "0X") {
+		n, err := strconv.ParseUint(s[2:], 16, 32)
+		if err != nil {
+			return 0, fmt.Errorf("invalid node ID %q: %w", s, err)
+		}
+		return NodeID(n), nil
+	}
+
+	// Try hex first if it looks like hex (contains a-f)
+	sLower := strings.ToLower(s)
+	if strings.ContainsAny(sLower, "abcdef") {
+		n, err := strconv.ParseUint(s, 16, 32)
+		if err != nil {
+			return 0, fmt.Errorf("invalid node ID %q: %w", s, err)
+		}
+		return NodeID(n), nil
+	}
+
+	// Try decimal
+	n, err := strconv.ParseUint(s, 10, 32)
+	if err != nil {
+		// Fall back to hex for 8-char strings
+		if len(s) == 8 {
+			n, err = strconv.ParseUint(s, 16, 32)
+			if err != nil {
+				return 0, fmt.Errorf("invalid node ID %q: %w", s, err)
+			}
+			return NodeID(n), nil
+		}
+		return 0, fmt.Errorf("invalid node ID %q: %w", s, err)
+	}
+	return NodeID(n), nil
+}
+
+// Uint32 returns the underlying uint32 value of the NodeID.
+func (n NodeID) Uint32() uint32 {
+	return uint32(n)
+}
+
+// String converts the NodeID to a hex formatted string.
+// This is typically how NodeIDs are displayed in Meshtastic UIs.
+func (n NodeID) String() string {
+	return fmt.Sprintf("!%08x", uint32(n))
+}
+
+// Bytes converts the NodeID to a byte slice
+func (n NodeID) Bytes() []byte {
+	bytes := make([]byte, 4) // uint32 is 4 bytes
+	binary.BigEndian.PutUint32(bytes, n.Uint32())
+	return bytes
+}
+
+// DefaultLongName returns the default long node name based on the NodeID.
+// Source: https://github.com/meshtastic/firmware/blob/d1ea58975755e146457a8345065e4ca357555275/src/mesh/NodeDB.cpp#L382
+func (n NodeID) DefaultLongName() string {
+	bytes := make([]byte, 4) // uint32 is 4 bytes
+	binary.BigEndian.PutUint32(bytes, n.Uint32())
+	return fmt.Sprintf("Meshtastic %04x", bytes[2:])
+}
+
+// DefaultShortName returns the default short node name based on the NodeID.
+// Last two bytes of the NodeID represented in hex.
+// Source: https://github.com/meshtastic/firmware/blob/d1ea58975755e146457a8345065e4ca357555275/src/mesh/NodeDB.cpp#L382
+func (n NodeID) DefaultShortName() string {
+	bytes := make([]byte, 4) // uint32 is 4 bytes
+	binary.BigEndian.PutUint32(bytes, n.Uint32())
+	return fmt.Sprintf("%04x", bytes[2:])
+}
+
+// UnmarshalText implements encoding.TextUnmarshaler for use with config parsers like Viper.
+func (n *NodeID) UnmarshalText(text []byte) error {
+	parsed, err := ParseNodeID(string(text))
+	if err != nil {
+		return err
+	}
+	*n = parsed
+	return nil
+}
+
+// MarshalText implements encoding.TextMarshaler.
+func (n NodeID) MarshalText() ([]byte, error) {
+	return []byte(n.String()), nil
+}
+
+// IsReservedID returns true if this is a reserved or broadcast NodeID.
+func (n NodeID) IsReservedID() bool {
+	return n < reservedNodeIDThreshold || n >= BroadcastNodeIDNoLora
+}
+
+// IsBroadcast returns true if this is any form of broadcast address.
+func (n NodeID) IsBroadcast() bool {
+	return n == BroadcastNodeID || n == BroadcastNodeIDNoLora
+}
+
+// ToMacAddress returns a MAC address string derived from the NodeID.
+// This creates a locally administered unicast MAC address.
+func (n NodeID) ToMacAddress() string {
+	bytes := n.Bytes()
+	// Use 0x02 as the first octet (locally administered, unicast)
+	// Then 0x00 as padding, followed by the 4 bytes of the NodeID
+	return fmt.Sprintf("02:00:%02x:%02x:%02x:%02x", bytes[0], bytes[1], bytes[2], bytes[3])
+}
+
+// RandomNodeID returns a randomised NodeID.
+// It's recommended to call this the first time a node is started and persist the result.
+//
+// Hardware meshtastic nodes first try a NodeID of the last four bytes of the BLE MAC address. If that ID is already in
+// use or invalid, a random NodeID is generated.
+// Source: https://github.com/meshtastic/firmware/blob/d1ea58975755e146457a8345065e4ca357555275/src/mesh/NodeDB.cpp#L466
+func RandomNodeID() (NodeID, error) {
+	// Generates a random uint32 between reservedNodeIDThreshold and math.MaxUint32
+	randomInt, err := rand.Int(
+		rand.Reader,
+		big.NewInt(
+			int64(math.MaxUint32-reservedNodeIDThreshold.Uint32()),
+		),
+	)
+	if err != nil {
+		return NodeID(0), fmt.Errorf("reading entropy: %w", err)
+	}
+	r := uint32(randomInt.Uint64()) + reservedNodeIDThreshold.Uint32()
+	return NodeID(r), nil
+}
--- a/protocol/meshtastic/packet.go
+++ b/protocol/meshtastic/packet.go
@@ -0,0 +1,54 @@
+package meshtastic
+
+import (
+	"encoding/binary"
+	"errors"
+)
+
+const (
+	minPacketSize  = 4 + 4 + 4 + 1 + 1 + 1 + 1
+	maxPayloadSize = 237
+)
+
+var (
+	// ErrInvalidPacket signals the source buffer does not contain a valid packet.
+	ErrInvalidPacket = errors.New("meshtastic: invalid packet")
+)
+
+type Packet struct {
+	Destination   NodeID
+	Source        NodeID
+	ID            uint32
+	Flags         uint8
+	ChannelHash   uint8
+	NextHop       uint8
+	RelayNode     uint8
+	PayloadLength int
+	Payload       [maxPayloadSize]byte
+}
+
+func (packet *Packet) Decode(data []byte) error {
+	if len(data) < minPacketSize {
+		return ErrInvalidPacket
+	}
+
+	packet.Destination = parseNodeID(data[0:])
+	packet.Source = parseNodeID(data[4:])
+	packet.ID = binary.LittleEndian.Uint32(data[8:])
+	packet.Flags = data[12]
+	packet.ChannelHash = data[13]
+	packet.NextHop = data[14]
+	packet.RelayNode = data[15]
+	packet.PayloadLength = len(data[16:])
+	copy(packet.Payload[:], data[16:])
+
+	return nil
+}
+
+func (packet *Packet) HopLimit() int {
+	return
+}
+
+func parseNodeID(data []byte) NodeID {
+	return NodeID(binary.LittleEndian.Uint32(data))
+}
--- a/util/maidenhead/maidenhead.go
+++ b/util/maidenhead/maidenhead.go
@@ -88,7 +88,7 @@ var parseLocatorMult = []struct {
 	{upper[:18], lower[:18], 20.0},
 	{upper[:18], lower[:18], 10.0},
 	{digit[:10], digit[:10], 20.0 / 10.0},
-	{digit[:10], digit[:10], 10.0 / 10.0},
+	{digit[:10], digit[:10], 1.0},
 	{upper[:24], lower[:24], 20.0 / (10.0 * 24.0)},
 	{upper[:24], lower[:24], 10.0 / (10.0 * 24.0)},
 	{digit[:10], digit[:10], 20.0 / (10.0 * 24.0 * 10.0)},