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AP_Terrain: added automatic rally point checking

This commit is contained in:
Andrew Tridgell 2014-08-06 16:36:02 +10:00
parent 723aa7e336
commit a701fa2098
2 changed files with 27 additions and 3 deletions
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6
libraries/AP_Terrain/AP_Terrain.cpp
View File

@ -53,9 +53,10 @@ const AP_Param::GroupInfo AP_Terrain::var_info[] PROGMEM = {
};
// constructor
AP_Terrain::AP_Terrain(AP_AHRS &_ahrs, const AP_Mission &_mission) :
AP_Terrain::AP_Terrain(AP_AHRS &_ahrs, const AP_Mission &_mission, const AP_Rally &_rally) :
ahrs(_ahrs),
mission(_mission),
rally(_rally),
disk_io_state(DiskIoIdle),
last_request_time_ms(0),
fd(-1),
@ -263,6 +264,9 @@ void AP_Terrain::update(void)
// check for pending mission data
update_mission_data();
// check for pending rally data
update_rally_data();
}
/*

24
libraries/AP_Terrain/AP_Terrain.h
View File

@ -32,6 +32,7 @@
#include <AP_Param.h>
#include <AP_AHRS.h>
#include <AP_Mission.h>
#include <AP_Rally.h>
#define TERRAIN_DEBUG 0
@ -79,7 +80,7 @@
class AP_Terrain
{
public:
AP_Terrain(AP_AHRS &_ahrs, const AP_Mission &_mission);
AP_Terrain(AP_AHRS &_ahrs, const AP_Mission &_mission, const AP_Rally &_rally);
enum TerrainStatus {
TerrainStatusDisabled = 0, // not enabled
@ -304,10 +305,16 @@ private:
void read_block(void);
/*
check for mission terrain data
check for missing mission terrain data
*/
void update_mission_data(void);
/*
check for missing rally data
*/
void update_rally_data(void);
// parameters
AP_Int8 enable;
AP_Int16 grid_spacing; // meters between grid points
@ -320,6 +327,10 @@ private:
// all waypoints
const AP_Mission &mission;
// reference to AP_Rally, so we can ask preload terrain data for
// all rally points
const AP_Rally &rally;
// cache of grids in memory, LRU
struct grid_cache cache[TERRAIN_GRID_BLOCK_CACHE_SIZE];
@ -373,6 +384,15 @@ private:
// grid spacing during mission check
uint16_t last_mission_spacing;
// next rally command to check
uint16_t next_rally_index;
// last time the rally points changed
uint32_t last_rally_change_ms;
// grid spacing during rally check
uint16_t last_rally_spacing;
};
#endif // AP_TERRAIN_AVAILABLE
#endif // __AP_TERRAIN_H__