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Plane: take advantage of rangefinder support in relative_ground_altitude()

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This commit is contained in:
Tom Pittenger 2016-06-03 14:10:26 -07:00
parent 55ad1548e4
commit b3f182157c
2 changed files with 6 additions and 2 deletions
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2
ArduPlane/Plane.h
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@ -826,7 +826,7 @@ private:
int32_t get_RTL_altitude(); int32_t get_RTL_altitude();
float relative_altitude(void); float relative_altitude(void);
int32_t relative_altitude_abs_cm(void); int32_t relative_altitude_abs_cm(void);
float relative_ground_altitude(void); float relative_ground_altitude(bool use_rangefinder_if_available);
void set_target_altitude_current(void); void set_target_altitude_current(void);
void set_target_altitude_current_adjusted(void); void set_target_altitude_current_adjusted(void);
void set_target_altitude_location(const Location &loc); void set_target_altitude_location(const Location &loc);

6
ArduPlane/altitude.cpp
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@ -137,8 +137,12 @@ int32_t Plane::relative_altitude_abs_cm(void)
return relative altitude in meters (relative to terrain, if available, return relative altitude in meters (relative to terrain, if available,
or home otherwise) or home otherwise)
*/ */
float Plane::relative_ground_altitude(void) float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
{ {
if (use_rangefinder_if_available && rangefinder_state.in_range) {
return rangefinder_state.height_estimate;
}
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
float altitude; float altitude;
if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(altitude, true)) { if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(altitude, true)) {