Treat UAVS diffrently from manned aviation

src/modules/mavlink/mavlink_receiver.cpp

@@ -2229,7 +2229,7 @@ MavlinkReceiver::handle_message_utm_global_position(mavlink_message_t *msg)
 	// For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null
 	// terminator could cause problems.
 	memset(&t.callsign[0], 0, sizeof(t.callsign));
-	t.emitter_type = ADSB_EMITTER_TYPE_NO_INFO;  // TODO: Is this correct?
+	t.emitter_type = ADSB_EMITTER_TYPE_UAV;  // TODO: Is this correct?x2?
 
 	// The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of
 	// an 8-bit int, or if this is the first communication.

src/modules/navigator/navigator.h

@@ -301,6 +301,7 @@ class Navigator : public ModuleBase<Navigator>, public ModuleParams
 		_param_nav_mc_alt_rad,	/**< acceptance radius for multicopter altitude */
 		(ParamInt<px4::params::NAV_FORCE_VT>) _param_nav_force_vt,	/**< acceptance radius for multicopter altitude */
 		(ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_nav_traff_avoid,	/**< avoiding other aircraft is enabled */
+		(ParamInt<px4::params::NAV_TRAFF_A_RAD>) _param_nav_traff_a_rad,	/**< avoidance Distance*/
 
 		// non-navigator parameters
 		// Mission (MIS_*)

src/modules/navigator/navigator_main.cpp

@@ -960,6 +960,13 @@ void Navigator::check_traffic()
 			continue;
 		}
 
+
+		//ADSB Transmitter 14 = UAV
+		if (tr.emitter_type == ADSB_EMITTER_TYPE_UAV) {
+			horizontal_separation = _param_nav_traff_a_rad.get();
+			vertical_separation = _param_nav_traff_a_rad.get();
+		}
+
 		float d_hor, d_vert;
 		get_distance_to_point_global_wgs84(lat, lon, alt,
 						   tr.lat, tr.lon, tr.altitude, &d_hor, &d_vert);