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Copter: provide terrain height to rangefinder

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used for power saving
This commit is contained in:
Andrew Tridgell 2015-02-23 12:50:35 +11:00
parent 422d0f05bd
commit 7c975808f8
1 changed files with 9 additions and 0 deletions
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9
ArduCopter/ArduCopter.pde
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@ -1149,6 +1149,15 @@ static void one_hz_loop()
#if AP_TERRAIN_AVAILABLE
terrain.update();
// tell the rangefinder our height, so it can go into power saving
// mode if available
#if CONFIG_SONAR == ENABLED
float height;
if (terrain.height_above_terrain(height, true)) {
sonar.set_estimated_terrain_height(height);
}
#endif
#endif
#if AC_FENCE == ENABLED