ardupilot/ArduPlane/sensors.cpp

36 lines
1.2 KiB
C++
Raw Normal View History

2015-05-13 03:09:36 -03:00
#include "Plane.h"
#include <AP_RSSI/AP_RSSI.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
2015-05-13 03:09:36 -03:00
/*
read the rangefinder and update height estimate
*/
2015-05-13 03:09:36 -03:00
void Plane::read_rangefinder(void)
{
// notify the rangefinder of our approximate altitude above ground to allow it to power on
// during low-altitude flight when configured to power down during higher-altitude flight
float height;
#if AP_TERRAIN_AVAILABLE
if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(height, true)) {
rangefinder.set_estimated_terrain_height(height);
} else
#endif
{
// use the best available alt estimate via baro above home
if (flight_stage == AP_FixedWing::FlightStage::LAND) {
// ensure the rangefinder is powered-on when land alt is higher than home altitude.
// This is done using the target alt which we know is below us and we are sinking to it
height = height_above_target();
} else {
// otherwise just use the best available baro estimate above home.
height = relative_altitude;
}
rangefinder.set_estimated_terrain_height(height);
}
rangefinder.update();
rangefinder_height_update();
}