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AP_Terrain: split sending terrain report from terrain request

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Peter Barker 2024-09-27 11:01:24 +10:00 committed by Andrew Tridgell
parent 11014cae06
commit a401c98c74
2 changed files with 16 additions and 6 deletions
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3
libraries/AP_Terrain/AP_Terrain.h
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@ -109,6 +109,9 @@ public:
void send_request(mavlink_channel_t chan); void send_request(mavlink_channel_t chan);
// handle terrain data and reports from GCS // handle terrain data and reports from GCS
// send a terrain report for the current location, extrapolating height as we do for navigation:
void send_report(mavlink_channel_t chan);
// send a terrain report or Location loc
void send_terrain_report(mavlink_channel_t chan, const Location &loc, bool extrapolate); void send_terrain_report(mavlink_channel_t chan, const Location &loc, bool extrapolate);
void handle_data(mavlink_channel_t chan, const mavlink_message_t &msg); void handle_data(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg); void handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg);

19
libraries/AP_Terrain/TerrainGCS.cpp
View File

@ -115,17 +115,12 @@ void AP_Terrain::send_request(mavlink_channel_t chan)
Location loc; Location loc;
if (!AP::ahrs().get_location(loc)) { if (!AP::ahrs().get_location(loc)) {
// we don't know where we are. Send a report and request any cached blocks. // we don't know where we are. Request any cached blocks.
// this allows for download of mission items when we have no GPS lock // this allows for download of mission items when we have no GPS lock
loc = {};
send_terrain_report(chan, loc, true);
send_cache_request(chan); send_cache_request(chan);
return; return;
} }
// always send a terrain report
send_terrain_report(chan, loc, true);
// did we request recently? // did we request recently?
if (AP_HAL::millis() - last_request_time_ms[chan] < 2000) { if (AP_HAL::millis() - last_request_time_ms[chan] < 2000) {
// too soon to request again // too soon to request again
@ -207,6 +202,18 @@ void AP_Terrain::handle_data(mavlink_channel_t chan, const mavlink_message_t &ms
} }
} }
/*
send a TERRAIN_REPORT for the current location
*/
void AP_Terrain::send_report(mavlink_channel_t chan)
{
Location loc;
if (!AP::ahrs().get_location(loc)) {
loc = {};
}
send_terrain_report(chan, loc, true);
}
/* /*
send a TERRAIN_REPORT for a location send a TERRAIN_REPORT for a location