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AP_Terrain: make TERRAIN_MARGIN a float 

it turns out very large margins are needed for some locations
This commit is contained in:
Andrew Tridgell 2021-08-23 14:01:59 +10:00
parent e5bde1a085
commit a412795045
2 changed files with 5 additions and 5 deletions
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6
libraries/AP_Terrain/AP_Terrain.cpp
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@ -63,10 +63,10 @@ const AP_Param::GroupInfo AP_Terrain::var_info[] = {
// @Param: MARGIN
// @DisplayName: Acceptance margin
// @Description: Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used
// @Units: cm
// @Range: 2 30000
// @Units: m
// @Range: 0.05 50000
// @User: Advanced
AP_GROUPINFO("MARGIN", 3, AP_Terrain, margin, 2),
AP_GROUPINFO("MARGIN", 3, AP_Terrain, margin, 0.05),
AP_GROUPEND
};

4
libraries/AP_Terrain/AP_Terrain.h
View File

@ -62,7 +62,7 @@
// we allow for a 2cm discrepancy in the grid corners. This is to
// account for different rounding in terrain DAT file generators using
// different programming languages
#define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()))
#define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()*100))
#if TERRAIN_DEBUG
#include <assert.h>
@ -352,7 +352,7 @@ private:
// parameters
AP_Int8 enable;
AP_Int16 margin;
AP_Float margin;
AP_Int16 grid_spacing; // meters between grid points
AP_Int16 options; // option bits