Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Terrain: request grids around current grid

Browse Source 
this ensures we have grids ahead of time
This commit is contained in:
Andrew Tridgell 2014-07-22 09:19:04 +10:00
parent 18e09c2f3e
commit 09214680fe
1 changed files with 21 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_Terrain/AP_Terrain.cpp
View File

@ -270,6 +270,27 @@ void AP_Terrain::send_request(mavlink_channel_t chan)
if (request_missing(chan, info)) {
return;
}
// also request a larger set of up to 9 grids
for (int8_t x=-1; x<=1; x++) {
for (int8_t y=-1; y<=1; y++) {
Location loc2 = loc;
location_offset(loc2,
x*TERRAIN_GRID_BLOCK_SIZE_X*0.7f*grid_spacing,
y*TERRAIN_GRID_BLOCK_SIZE_Y*0.7f*grid_spacing);
struct grid_info info2;
calculate_grid_info(loc2, info2);
if (request_missing(chan, info2)) {
return;
}
}
}
// request the current loc last to ensure it has highest last
// access time
if (request_missing(chan, info)) {
return;
}
}
/*