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SITL: change to use terrain singleton

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This commit is contained in:
Peter Barker 2021-02-15 13:51:06 +11:00 committed by Andrew Tridgell
parent 088120b8f3
commit 05a0205c21
3 changed files with 7 additions and 12 deletions
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9
libraries/SITL/SIM_Aircraft.cpp
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@ -33,6 +33,7 @@
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Declination/AP_Declination.h> #include <AP_Declination/AP_Declination.h>
#include <AP_Terrain/AP_Terrain.h>
using namespace SITL; using namespace SITL;
@ -63,8 +64,6 @@ Aircraft::Aircraft(const char *frame_str) :
sitl->ahrs_rotation_inv = sitl->ahrs_rotation.transposed(); sitl->ahrs_rotation_inv = sitl->ahrs_rotation.transposed();
} }
terrain = AP::terrain();
// init rangefinder array to -1 to signify no data // init rangefinder array to -1 to signify no data
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++){ for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++){
rangefinder_m[i] = -1.0f; rangefinder_m[i] = -1.0f;
@ -94,14 +93,18 @@ void Aircraft::set_start_location(const Location &start_loc, const float start_y
*/ */
float Aircraft::ground_height_difference() const float Aircraft::ground_height_difference() const
{ {
#if AP_TERRAIN_AVAILABLE
AP_Terrain *terrain = AP::terrain();
float h1, h2; float h1, h2;
if (sitl && if (sitl &&
sitl->terrain_enable && terrain && terrain != nullptr &&
sitl->terrain_enable &&
terrain->height_amsl(home, h1, false) && terrain->height_amsl(home, h1, false) &&
terrain->height_amsl(location, h2, false)) { terrain->height_amsl(location, h2, false)) {
h2 += local_ground_level; h2 += local_ground_level;
return h2 - h1; return h2 - h1;
} }
#endif
return local_ground_level; return local_ground_level;
} }

2
libraries/SITL/SIM_Aircraft.h
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@ -22,7 +22,6 @@
#include "SITL.h" #include "SITL.h"
#include "SITL_Input.h" #include "SITL_Input.h"
#include <AP_Terrain/AP_Terrain.h>
#include "SIM_Sprayer.h" #include "SIM_Sprayer.h"
#include "SIM_Gripper_Servo.h" #include "SIM_Gripper_Servo.h"
#include "SIM_Gripper_EPM.h" #include "SIM_Gripper_EPM.h"
@ -243,7 +242,6 @@ protected:
bool use_smoothing; bool use_smoothing;
AP_Terrain *terrain;
float ground_height_difference() const; float ground_height_difference() const;
virtual bool on_ground() const; virtual bool on_ground() const;

8
libraries/SITL/SIM_Ship.cpp
View File

@ -174,21 +174,15 @@ void ShipSim::send_report(void)
Location loc = home; Location loc = home;
loc.offset_double(ship.position.x, ship.position.y); loc.offset_double(ship.position.x, ship.position.y);
int32_t alt; int32_t alt = home.alt; // assume home altitude
bool have_alt = false;
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
auto terrain = AP::terrain(); auto terrain = AP::terrain();
float height; float height;
if (terrain != nullptr && terrain->enabled() && terrain->height_amsl(loc, height, true)) { if (terrain != nullptr && terrain->enabled() && terrain->height_amsl(loc, height, true)) {
alt = height * 1000; alt = height * 1000;
have_alt = true;
} }
#endif #endif
if (!have_alt) {
// assume home altitude
alt = home.alt;
}
Vector2f vel(ship.speed, 0); Vector2f vel(ship.speed, 0);
vel.rotate(radians(ship.heading_deg)); vel.rotate(radians(ship.heading_deg));