Plane: added TERRAIN_FOLLOW parameter

when enabled RTL, CRUISE and rally points will use terrain altitude

ArduPlane/ArduPlane.pde

@@ -664,6 +664,15 @@ static struct {
     // Altitude difference between previous and current waypoint in
     // centimeters. Used for glide slope handling
     int32_t offset_cm;
+
+#if HAVE_AP_TERRAIN
+    // are we trying to follow terrain?
+    bool terrain_following;
+
+    // target altitude above terrain in cm, valid if terrain_following
+    // is set
+    int32_t terrain_alt_cm;
+#endif
 } target_altitude;
 
 ////////////////////////////////////////////////////////////////////////////////

ArduPlane/Parameters.h

@@ -117,6 +117,7 @@ public:
         k_param_takeoff_throttle_max,
         k_param_sonar,
         k_param_terrain,
+        k_param_terrain_follow,
 
         // 100: Arming parameters
         k_param_arming = 100,
@@ -444,6 +445,9 @@ public:
     AP_Int8 level_roll_limit;
     AP_Int8 flapin_channel;
     AP_Int8 flaperon_output;
+#if HAVE_AP_TERRAIN
+    AP_Int8 terrain_follow;
+#endif
 
     // RC channels
     RC_Channel rc_1;

ArduPlane/Parameters.pde

@@ -356,6 +356,15 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(flybywire_elev_reverse, "FBWB_ELEV_REV",  0),
 
+#if HAVE_AP_TERRAIN
+    // @Param: TERRAIN_FOLLOW
+    // @DisplayName: Use terrain following
+    // @Description: This enables terrain following for CRUISE mode, FBWB mode and RTL. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain.
+    // @Values: 0:Disabled,1:Enabled
+    // @User: Standard
+    GSCALAR(terrain_follow, "TERRAIN_FOLLOW",  0),
+#endif
+
     // @Param: FBWB_CLIMB_RATE
     // @DisplayName: Fly By Wire B altitude change rate
     // @Description: This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.

ArduPlane/altitude.pde

@@ -15,7 +15,8 @@
  */
 
 /*
-  altitude handling routines
+  altitude handling routines. These cope with both barometric control
+  and terrain following control
  */
 
 /*
@@ -65,7 +66,7 @@ static void setup_glide_slope(void)
            rapidly if below it. See
            https://github.com/diydrones/ardupilot/issues/39
         */
-        if (above_location(next_WP_loc)) {
+        if (above_location_current(next_WP_loc)) {
             set_offset_altitude_location(next_WP_loc);
         } else {
             reset_offset_altitude();
@@ -78,7 +79,7 @@ static void setup_glide_slope(void)
         // is basically to prevent situations where we try to slowly
         // gain height at low altitudes, potentially hitting
         // obstacles.
-        if (relative_altitude() > 40 || !above_location(next_WP_loc)) {
+        if (relative_altitude() > 40 || !above_location_current(next_WP_loc)) {
             set_offset_altitude_location(next_WP_loc);
         } else {
             reset_offset_altitude();
@@ -126,7 +127,26 @@ static int32_t relative_altitude_abs_cm(void)
  */
 static void set_target_altitude_current(void)
 {
+    // record altitude above sea level at the current time as our
+    // target altitude
     target_altitude.amsl_cm = current_loc.alt;
+
+    // reset any glide slope offset
+    reset_offset_altitude();
+
+#if HAVE_AP_TERRAIN
+    // also record the terrain altitude if possible
+    float terrain_altitude;
+    if (g.terrain_follow && terrain.height_above_terrain(current_loc, terrain_altitude)) {
+        target_altitude.terrain_following = true;
+        target_altitude.terrain_alt_cm = terrain_altitude*100;
+    } else {
+        // if terrain following is disabled, or we don't know our
+        // terrain altitude when we set the altitude then don't
+        // terrain follow
+        target_altitude.terrain_following = false;        
+    }
+#endif
 }
 
 /*
@@ -134,6 +154,9 @@ static void set_target_altitude_current(void)
  */
 static void set_target_altitude_current_adjusted(void)
 {
+    set_target_altitude_current();
+
+    // use adjusted_altitude_cm() to take account of ALTITUDE_OFFSET
     target_altitude.amsl_cm = adjusted_altitude_cm();
 }
 
@@ -143,6 +166,27 @@ static void set_target_altitude_current_adjusted(void)
 static void set_target_altitude_location(const Location &loc)
 {
     target_altitude.amsl_cm = loc.alt;
+    if (loc.flags.relative_alt) {
+        target_altitude.amsl_cm += home.alt;
+    }
+#if HAVE_AP_TERRAIN
+    /*
+      if this location has the terrain_alt flag set and we know the
+      terrain altitude of our current location then treat it as a
+      terrain altitude
+     */
+    float height;
+    if (loc.flags.terrain_alt && terrain.height_above_terrain(current_loc, height)) {
+        target_altitude.terrain_following = true;
+        target_altitude.terrain_alt_cm = loc.alt;
+        if (!loc.flags.relative_alt) {
+            // it has home added, remove it
+            target_altitude.terrain_alt_cm -= home.alt;
+        }
+    } else {
+        target_altitude.terrain_following = false;
+    }
+#endif
 }
 
 /*
@@ -151,6 +195,17 @@ static void set_target_altitude_location(const Location &loc)
  */
 static int32_t relative_target_altitude_cm(void)
 {
+#if HAVE_AP_TERRAIN
+    float relative_home_height;
+    if (target_altitude.terrain_following && 
+        terrain.height_relative_home_equivalent(current_loc, 
+                                                target_altitude.terrain_alt_cm*0.01f,
+                                                relative_home_height)) {
+        // we are following terrain, and have terrain data for the
+        // current location. Use it.
+        return relative_home_height*100;
+    }
+#endif
     return target_altitude.amsl_cm - home.alt + (int32_t(g.alt_offset)*100);
 }
 
@@ -161,6 +216,11 @@ static int32_t relative_target_altitude_cm(void)
 static void change_target_altitude(int32_t change_cm)
 {
     target_altitude.amsl_cm += change_cm;
+#if HAVE_AP_TERRAIN
+    if (target_altitude.terrain_following) {
+        target_altitude.terrain_alt_cm += change_cm;
+    }
+#endif
 }
 
 /*
@@ -187,7 +247,7 @@ static void set_target_altitude_proportion(const Location &loc, float proportion
  */
 static void constrain_target_altitude_location(const Location &loc1, const Location &loc2)
 {
-    if (loc1.alt > loc2.alt) {
+    if (above_location(loc1, loc2)) {
         target_altitude.amsl_cm = constrain_int32(target_altitude.amsl_cm, loc2.alt, loc1.alt);
     } else {
         target_altitude.amsl_cm = constrain_int32(target_altitude.amsl_cm, loc1.alt, loc2.alt);
@@ -199,6 +259,13 @@ static void constrain_target_altitude_location(const Location &loc1, const Locat
  */
 static int32_t calc_altitude_error_cm(void)
 {
+#if HAVE_AP_TERRAIN
+    float terrain_height;
+    if (target_altitude.terrain_following && 
+        terrain.height_above_terrain(current_loc, terrain_height)) {
+        return target_altitude.terrain_alt_cm - (terrain_height*100);
+    }
+#endif
     return target_altitude.amsl_cm - adjusted_altitude_cm();
 }
 
@@ -207,7 +274,21 @@ static int32_t calc_altitude_error_cm(void)
  */
 static void check_minimum_altitude(void)
 {
-    if (g.FBWB_min_altitude_cm != 0 && target_altitude.amsl_cm < home.alt + g.FBWB_min_altitude_cm) {
+    if (g.FBWB_min_altitude_cm == 0) {
+        return;
+    }
+
+#if HAVE_AP_TERRAIN
+    if (target_altitude.terrain_following) {
+            // set our target terrain height to be at least the min set
+            if (target_altitude.terrain_alt_cm < g.FBWB_min_altitude_cm) {
+                target_altitude.terrain_alt_cm = g.FBWB_min_altitude_cm;
+            }
+            return;
+    }
+#endif
+
+    if (target_altitude.amsl_cm < home.alt + g.FBWB_min_altitude_cm) {
         target_altitude.amsl_cm = home.alt + g.FBWB_min_altitude_cm;
     }
 }
@@ -229,12 +310,57 @@ static void reset_offset_altitude(void)
 static void set_offset_altitude_location(const Location &loc)
 {
     target_altitude.offset_cm = loc.alt - current_loc.alt;
+
+#if HAVE_AP_TERRAIN
+    float terrain_altitude_loc, terrain_altitude_current;
+    if (loc.flags.terrain_alt && 
+        terrain.height_amsl(current_loc, terrain_altitude_current) &&
+        terrain.height_amsl(loc, terrain_altitude_loc)) {
+        target_altitude.offset_cm = (terrain_altitude_loc - terrain_altitude_current) * 100;
+    }
+#endif
+}
+
+/*
+  return true if loc1 is above loc2
+ */
+static bool above_location(const Location &loc1, const Location &loc2)
+{
+#if HAVE_AP_TERRAIN
+    float alt1, alt2;
+    if (terrain.location_to_relative_home(loc1, alt1) &&
+        terrain.location_to_relative_home(loc2, alt2)) {
+        return alt1 - alt2;
+    }
+#endif
+    return loc1.alt > loc2.alt;
 }
 
 /*
   are we above the altitude given by a location?
  */
-static bool above_location(const Location &loc)
+static bool above_location_current(const Location &loc)
 {
-    return current_loc.alt > loc.alt;
+    return above_location(current_loc, loc);
+}
+
+/*
+  modify a destination to be setup for terrain following if
+  TERRAIN_FOLLOW is enabled
+ */
+static void setup_terrain_target_alt(Location &loc)
+{
+    if (g.terrain_follow) {
+        loc.flags.terrain_alt = true;
+    }
+}
+
+/*
+  return current_loc.alt adjusted for ALT_OFFSET
+  This is useful during long flights to account for barometer changes
+  from the GCS, or to adjust the flying height of a long mission
+ */
+static int32_t adjusted_altitude_cm(void)
+{
+    return current_loc.alt - (g.alt_offset*100);
 }

ArduPlane/commands_logic.pde

@@ -253,6 +253,7 @@ static void do_RTL(void)
     control_mode    = RTL;
     prev_WP_loc = current_loc;
     next_WP_loc = rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());
+    setup_terrain_target_alt(next_WP_loc);
 
     if (g.loiter_radius < 0) {
         loiter.direction = -1;
@@ -498,6 +499,9 @@ static void do_wait_delay(const AP_Mission::Mission_Command& cmd)
     condition_value  = cmd.content.delay.seconds * 1000;    // convert seconds to milliseconds
 }
 
+/*
+  process a DO_CHANGE_ALT request
+ */
 static void do_change_alt(const AP_Mission::Mission_Command& cmd)
 {
     condition_rate = labs((int)cmd.content.location.lat);   // climb rate in cm/s
@@ -638,6 +642,7 @@ static void exit_mission_callback()
         auto_rtl_command.content.location = 
             rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());
         auto_rtl_command.id = MAV_CMD_NAV_LOITER_UNLIM;
+        setup_terrain_target_alt(auto_rtl_command.content.location);
         setup_glide_slope();
         setup_turn_angle();
         start_command(auto_rtl_command);

ArduPlane/geofence.pde

@@ -363,6 +363,8 @@ static void geofence_check(bool altitude_check_only)
         geofence_state->guided_lng = guided_WP_loc.lng;
         geofence_state->old_switch_position = oldSwitchPosition;
 
+        setup_terrain_target_alt(guided_WP_loc);
+
         set_guided_WP();
 
         // make sure we don't auto trim the surfaces on this mode change

ArduPlane/sensors.pde

@@ -69,13 +69,3 @@ void read_receiver_rssi(void)
     }
 }
 
-/*
-  return current_loc.alt adjusted for ALT_OFFSET
-  This is useful during long flights to account for barometer changes
-  from the GCS, or to adjust the flying height of a long mission
- */
-static int32_t adjusted_altitude_cm(void)
-{
-    return current_loc.alt - (g.alt_offset*100);
-}
-