Copter: add TERRAIN_USE parameter

Also add terrain.cpp to hold terrain_update and terrain_logging functions

ArduCopter/ArduCopter.cpp

@@ -132,6 +132,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if FRSKY_TELEM_ENABLED == ENABLED
     SCHED_TASK(frsky_telemetry_send,   5,     75),
 #endif
+    SCHED_TASK(terrain_update,        10,    100),
 #if EPM_ENABLED == ENABLED
     SCHED_TASK(epm_update,            10,     75),
 #endif
@@ -498,24 +499,14 @@ void Copter::one_hz_loop()
 
     check_usb_mux();
 
-#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
-    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
-
     // update position controller alt limits
     update_poscon_alt_max();
 
     // enable/disable raw gyro/accel logging
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
+
+    // log terrain data
+    terrain_logging();
 }
 
 // called at 50hz

ArduCopter/Copter.h

@@ -945,6 +945,9 @@ private:
     void read_battery(void);
     void read_receiver_rssi(void);
     void epm_update();
+    void terrain_update();
+    void terrain_logging();
+    bool terrain_use();
     void report_batt_monitor();
     void report_frame();
     void report_radio();

ArduCopter/Parameters.cpp

@@ -960,6 +960,13 @@ const AP_Param::Info Copter::var_info[] = {
     // @User: Standard
     GSCALAR(throw_motor_start, "THROW_MOT_START", 0),
 
+    // @Param: TERRAIN_USE
+    // @DisplayName: Terrain use control
+    // @Description: Control how terrain data is used
+    // @Values: 0:NeverUse, 1:AlwaysUse
+    // @User: Standard
+    GSCALAR(terrain_use, "TERRAIN_USE", 0),
+
     AP_VAREND
 };
 

ArduCopter/Parameters.h

@@ -179,6 +179,7 @@ public:
         k_param_disarm_delay,
         k_param_fs_crash_check,
         k_param_throw_motor_start,
+        k_param_terrain_use,    // 94
 
         // 97: RSSI
         k_param_rssi = 97,
@@ -452,6 +453,7 @@ public:
     AP_Int16        gcs_pid_mask;
 
     AP_Int8         throw_motor_start;
+    AP_Int8         terrain_use;
 
     // RC channels
     RC_Channel              rc_1;

ArduCopter/terrain.cpp

@@ -0,0 +1,40 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include "Copter.h"
+
+// update terrain data
+void Copter::terrain_update()
+{
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
+    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
+}
+
+// log terrain data - should be called at 1hz
+void Copter::terrain_logging()
+{
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
+    if (should_log(MASK_LOG_GPS)) {
+        terrain.log_terrain_data(DataFlash);
+    }
+#endif
+}
+
+// should we use terrain data for things including the home altitude
+bool Copter::terrain_use()
+{
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
+    return (g.terrain_use > 0);
+#else
+    return false;
+#endif
+}