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AP_Terrain: correct wait-for-terrain prearm check

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looking at pending is insufficient as we may have more mission items to check to see if they need other pieces of terrain.  That is, terr_pending can go to zero momentarily and then go back to a non-zero number as Terrain's update method checks the mission and rally libraries for more terrain requirements.

Without this patch the prearm checks can momentarily pass, allowing the vehicle to arm.  The vehicle could hit a terrain failsafe later if it doesn't manage to get the data while in flight.
This commit is contained in:
Peter Barker 2022-08-04 10:36:02 +10:00 committed by Peter Barker
parent d688e6068b
commit 4c674b64fb
2 changed files with 7 additions and 1 deletions
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7
libraries/AP_Terrain/AP_Terrain.cpp
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@ -166,6 +166,7 @@ bool AP_Terrain::height_amsl(const Location &loc, float &height, bool corrected)
// remember home altitude as a special case
home_height = height;
home_loc = loc;
have_home_height = true;
}
if (corrected && have_reference_offset) {
@ -369,7 +370,11 @@ bool AP_Terrain::pre_arm_checks(char *failure_msg, uint8_t failure_msg_len) cons
// check no outstanding requests for data:
uint16_t terr_pending, terr_loaded;
get_statistics(terr_pending, terr_loaded);
if (terr_pending != 0) {
if (terr_pending != 0 ||
!have_current_loc_height ||
!have_home_height ||
next_mission_index != 0 ||
next_rally_index != 0) {
hal.util->snprintf(failure_msg, failure_msg_len, "waiting for terrain data");
return false;
}

1
libraries/AP_Terrain/AP_Terrain.h
View File

@ -409,6 +409,7 @@ private:
// cache the home altitude, as it is needed so often
float home_height;
Location home_loc;
bool have_home_height;
// reference position for terrain adjustment, set at arming
bool have_reference_loc;