Converts basic radar detections into a maintained database of target locations converted to World XYZ coordinates.
The controller reads up to 6 simultaneous contacts from a RADAR composite output, then cycles through up to 20 memorised targets. Targets older than 5 seconds are deleted. Targets detected within 150m of each other are treated as the same, allowing consistent target identification and marking by use of a unique id
Sensor bus:
1 - GPSx
2 - GPSy
3 - Absolute altitude
5 - Pitch (the sensor should point to the rear of the aircraft)
6 - Roll (the sensor should point to port)
7 - Compass
Output:
1 - Target azimuth at time of detection
2 - Target elevation at time of detection
3 - Distance at time of detection
4 - World X
5 - World Y
6 - World Z
7 - Unique target ID. If 0, ignore other data
8 - Stale time of target. Decreases from 300 to 0
