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Plane: relative_ground_altitude allow passing bool for terrain use

This commit is contained in:
Iampete1 2023-01-22 00:37:58 +00:00 committed by Andrew Tridgell
parent 928a923f43
commit 76a10d9b26
2 changed files with 14 additions and 2 deletions
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1
ArduPlane/Plane.h
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@ -827,6 +827,7 @@ private:
void setup_glide_slope(void);
int32_t get_RTL_altitude_cm() const;
float relative_ground_altitude(bool use_rangefinder_if_available);
float relative_ground_altitude(bool use_rangefinder_if_available, bool use_terrain_if_available);
void set_target_altitude_current(void);
void set_target_altitude_current_adjusted(void);
void set_target_altitude_location(const Location &loc);

15
ArduPlane/altitude.cpp
View File

@ -92,7 +92,7 @@ int32_t Plane::get_RTL_altitude_cm() const
return relative altitude in meters (relative to terrain, if available,
or home otherwise)
*/
float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
float Plane::relative_ground_altitude(bool use_rangefinder_if_available, bool use_terrain_if_available)
{
if (use_rangefinder_if_available && rangefinder_state.in_range) {
return rangefinder_state.height_estimate;
@ -109,7 +109,7 @@ float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
#if AP_TERRAIN_AVAILABLE
float altitude;
if (target_altitude.terrain_following &&
if (use_terrain_if_available &&
terrain.status() == AP_Terrain::TerrainStatusOK &&
terrain.height_above_terrain(altitude, true)) {
return altitude;
@ -130,6 +130,17 @@ float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
return relative_altitude;
}
// Helper for above method using terrain if the vehicle is currently terrain following
float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
{
#if AP_TERRAIN_AVAILABLE
return relative_ground_altitude(use_rangefinder_if_available, target_altitude.terrain_following);
#else
return relative_ground_altitude(use_rangefinder_if_available, false);
#endif
}
/*
set the target altitude to the current altitude. This is used when
setting up for altitude hold, such as when releasing elevator in