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AP_Terrain: added parameter for terrain cache size

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Andrew Tridgell 2022-11-13 10:27:37 +11:00 committed by Peter Barker
parent ffec56cd0e
commit 5cf2c2740e
2 changed files with 13 additions and 3 deletions
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13
libraries/AP_Terrain/AP_Terrain.cpp
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@ -77,7 +77,14 @@ const AP_Param::GroupInfo AP_Terrain::var_info[] = {
// @Range: 0 50
// @User: Advanced
AP_GROUPINFO("OFS_MAX", 4, AP_Terrain, offset_max, 30),
// @Param: CACHE_SZ
// @DisplayName: Terrain cache size
// @Description: The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory
// @Range: 0 128
// @User: Advanced
AP_GROUPINFO("CACHE_SZ", 5, AP_Terrain, config_cache_size, TERRAIN_GRID_BLOCK_CACHE_SIZE),
AP_GROUPEND
};
@ -488,13 +495,13 @@ bool AP_Terrain::allocate(void)
if (cache != nullptr) {
return true;
}
cache = (struct grid_cache *)calloc(TERRAIN_GRID_BLOCK_CACHE_SIZE, sizeof(cache[0]));
cache = (struct grid_cache *)calloc(config_cache_size, sizeof(cache[0]));
if (cache == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Terrain: Allocation failed");
memory_alloc_failed = true;
return false;
}
cache_size = TERRAIN_GRID_BLOCK_CACHE_SIZE;
cache_size = config_cache_size;
return true;
}

3
libraries/AP_Terrain/AP_Terrain.h
View File

@ -51,7 +51,9 @@
#define TERRAIN_GRID_BLOCK_SIZE_Y (TERRAIN_GRID_MAVLINK_SIZE*TERRAIN_GRID_BLOCK_MUL_Y)
// number of grid_blocks in the LRU memory cache
#ifndef TERRAIN_GRID_BLOCK_CACHE_SIZE
#define TERRAIN_GRID_BLOCK_CACHE_SIZE 12
#endif
// format of grid on disk
#define TERRAIN_GRID_FORMAT_VERSION 1
@ -371,6 +373,7 @@ private:
AP_Int16 grid_spacing; // meters between grid points
AP_Int16 options; // option bits
AP_Float offset_max;
AP_Int16 config_cache_size;
enum class Options {
DisableDownload = (1U<<0),