ardupilot/libraries/AP_Terrain/TerrainMission.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
handle checking mission points for terrain data
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AP_Mission/AP_Mission.h>
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#include <AP_Rally/AP_Rally.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h>
#include "AP_Terrain.h"
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#include <AP_GPS/AP_GPS.h>
#if AP_TERRAIN_AVAILABLE
extern const AP_HAL::HAL& hal;
/*
check that we have fetched all mission terrain data
*/
void AP_Terrain::update_mission_data(void)
{
#if HAL_MISSION_ENABLED
const AP_Mission *mission = AP::mission();
if (mission == nullptr) {
return;
}
if (last_mission_change_ms != mission->last_change_time_ms() ||
last_mission_spacing != grid_spacing) {
// the mission has changed - start again
next_mission_index = 1;
next_mission_pos = 0;
last_mission_change_ms = mission->last_change_time_ms();
last_mission_spacing = grid_spacing;
}
if (next_mission_index == 0) {
// nothing to do
return;
}
uint16_t pending, loaded;
get_statistics(pending, loaded);
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if (pending && AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
// wait till we have fully filled the current set of grids
return;
}
// don't do more than 20 waypoints at a time, to prevent too much
// CPU usage
for (uint8_t i=0; i<20; i++) {
// get next mission command
AP_Mission::Mission_Command cmd;
if (!mission->read_cmd_from_storage(next_mission_index, cmd)) {
// nothing more to do
next_mission_index = 0;
return;
}
// we only want nav waypoint commands. That should be enough to
// prefill the terrain data and makes many things much simpler
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while ((cmd.id != MAV_CMD_NAV_WAYPOINT &&
cmd.id != MAV_CMD_NAV_SPLINE_WAYPOINT) ||
(cmd.content.location.lat == 0 && cmd.content.location.lng == 0)) {
next_mission_index++;
if (!mission->read_cmd_from_storage(next_mission_index, cmd)) {
// nothing more to do
next_mission_index = 0;
next_mission_pos = 0;
return;
}
}
// we will fetch 5 points around the waypoint. Four at 10 grid
// spacings away at 45, 135, 225 and 315 degrees, and the
// point itself
if (next_mission_pos != 4) {
cmd.content.location.offset_bearing(45+90*next_mission_pos, grid_spacing.get() * 10);
}
// we have a mission command to check
float height;
if (!height_amsl(cmd.content.location, height, false)) {
// if we can't get data for a mission item then return and
// check again next time
return;
}
next_mission_pos++;
if (next_mission_pos == 5) {
#if TERRAIN_DEBUG
hal.console->printf("checked waypoint %u\n", (unsigned)next_mission_index);
#endif
// move to next waypoint
next_mission_index++;
next_mission_pos = 0;
}
}
#endif // HAL_MISSION_ENABLED
}
/*
check that we have fetched all rally terrain data
*/
void AP_Terrain::update_rally_data(void)
{
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const AP_Rally *rally = AP::rally();
if (rally == nullptr) {
return;
}
if (last_rally_change_ms != rally->last_change_time_ms() ||
last_rally_spacing != grid_spacing) {
// a rally point has changed - start again
next_rally_index = 1;
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last_rally_change_ms = rally->last_change_time_ms();
last_rally_spacing = grid_spacing;
}
if (next_rally_index == 0) {
// nothing to do
return;
}
uint16_t pending, loaded;
get_statistics(pending, loaded);
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if (pending && AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
// wait till we have fully filled the current set of grids
return;
}
while (true) {
// get next rally point
struct RallyLocation rp;
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if (!rally->get_rally_point_with_index(next_rally_index, rp)) {
// nothing more to do
next_rally_index = 0;
return;
}
Location loc;
loc.lat = rp.lat;
loc.lng = rp.lng;
float height;
if (!height_amsl(loc, height, false)) {
// if we can't get data for a rally item then return and
// check again next time
return;
}
#if TERRAIN_DEBUG
hal.console->printf("checked rally point %u\n", (unsigned)next_rally_index);
#endif
// move to next rally point
next_rally_index++;
}
}
#endif // AP_TERRAIN_AVAILABLE