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91 Commits

Author SHA1 Message Date
Andrew Tridgell 5cf2c2740e AP_Terrain: added parameter for terrain cache size 2024-05-17 10:18:13 +10:00
Peter Barker 573a7b172e AP_Terrain: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Andrew Tridgell 9706a207b1 AP_Terrain: fixed build for periph 
needed for SITL periph rangefinder
 2023-08-24 13:06:40 +10:00
Andrew Tridgell 3534417a12 AP_Terrain: fixed assumption that HOME is on the ground 
this fixes height_above_terrain() to give a correct value when HOME is
not on the ground after the user has done a DO_SET_HOME with a
home position that is not at ground level
 2023-08-05 08:31:02 +10:00
Randy Mackay c039c349e3 AP_Terrain: terrain offset max default to 30m 2023-03-14 11:59:49 +11:00
Peter Barker 84215ff662 AP_Terrain: only include GCS_MAVLink if terrain is enabled 2023-01-03 10:47:28 +11:00
Peter Barker 241a7b1d78 AP_Terrain: include required AP_Vehicle_Type header 2022-11-02 18:35:48 +11:00
Peter Barker 339dd33240 AP_Terrain: correct compilation with rally disabled 2022-09-27 10:16:47 +10:00
Peter Barker 541cfa022b AP_Terrain: fix bad prearms-pass-when-they-shouldn't issue 
The squares surrounding the current location were only checked when we went to send a terrain request.  This means it was possible that:
 - the number of pending requests could go to zero
 - prearm checks would pass
 - vehicle arm is attempted by the user (or a script, or ....)
 - the code would call AP_Terrain::send_requests which would create more pending requests
 - the arming sequence would fail

It's also possible for the arming to succeed, and then we're flying in violation of the intended prearm checks.

Doing things in the update function has the additional advantage of making things more efficient as we can push out terrain requests more often.
 2022-08-09 14:31:14 +10:00
Peter Barker 4c674b64fb AP_Terrain: correct wait-for-terrain prearm check 
looking at pending is insufficient as we may have more mission items to check to see if they need other pieces of terrain.  That is, terr_pending can go to zero momentarily and then go back to a non-zero number as Terrain's update method checks the mission and rally libraries for more terrain requirements.

Without this patch the prearm checks can momentarily pass, allowing the vehicle to arm.  The vehicle could hit a terrain failsafe later if it doesn't manage to get the data while in flight.
 2022-08-09 14:31:14 +10:00
Peter Barker d688e6068b AP_Terrain: move terrain prearm checks to AP_Terrain 2022-08-09 14:31:14 +10:00
Andrew Tridgell 62dc865321 AP_Terrain: added logging of terrain correction 2022-03-28 16:01:21 +11:00
Andrew Tridgell 5f2c5be84a AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-28 16:01:21 +11:00
Andrew Tridgell 5d3a0a78cb AP_Terrain: removed terrain home correction 2022-03-10 07:34:20 +11:00
Peter Barker 6b21d117a9 AP_Terrain: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
Peter Barker e8e4aef998 AP_Terrain: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Andrew Tridgell a412795045 AP_Terrain: make TERRAIN_MARGIN a float 
it turns out very large margins are needed for some locations
 2021-08-31 09:25:36 +10:00
Andrew Tridgell 4e98636a53 AP_Terrain: added a TERRAIN_MARGIN parameter 
this sets the acceptance margin for GCS generated terrain data. You
can raise this to allow old data generated with the less accurate
longitude scaling to be used
 2021-08-22 20:32:46 +10:00
Peter Barker 0a068d4d4b AP_Terrain: default terrain to off in Sub 2021-07-12 17:34:44 +10:00
Andrew Tridgell 5e820b203b Ap_Terrain: make AP::terrain return a pointer 
this is needed for rover and OSD support
 2021-04-07 20:56:01 +10:00
Andrew Tridgell fb5a06b8da AP_Terrain: added AP namespace access to terrain 2020-07-10 13:28:38 +10:00
Henry Wurzburg 8e6028ec1a AP_Terrain: Update spacing param description in line with firmware useage 2020-06-30 09:51:30 +10:00
Andrew Tridgell 7b7bf3ef86 AP_Terrain: fixed bug in disk offset calculation 
this fixes a problem where two different locations could both be
mapped to the same disk block in the terrain/*.DAT files. That meant
that pre-filled terrain on the microSD card would sometimes require a
download in flight. It also means that a RTL with loss of GCS could
sometimes fly through a region with no terrain data available

Other changes in this patch:

 - allow for a 2cm discrepancy in the lat/lon of the grid
   corners. This is needed to allow for slightly different floating
   point rounding in tools that pre-generate terrain data to load on
   the microSD

 - added TERRAIN_OPTIONS parameter to allow the user to disable
   attempts to download new terrain data. This is mostly useful for
   testing to validate a terrain generator
 2020-05-05 11:21:33 +10:00
Jaaaky e8df08a4d3 AP_Terrain: Avoid update() IO operations when not enabled 2020-01-26 10:35:29 +11:00
Randy Mackay d18432adaa AP_Terrain: leave ENABLE as 1 if memory alloc fails 2019-11-19 10:16:25 +11:00
Randy Mackay 649058adb8 AP_Terrain: add init_failed 
allows external caller to determine if terrain database failed to initialise
 2019-11-19 10:16:25 +11:00
Michael du Breuil 04863f858d AP_Terrain: Directly include needed headers 2019-08-28 13:13:03 +10:00
Andrew Tridgell a4860afd32 AP_Terrain: convert to use AP_Filesystem 2019-08-27 15:40:43 +10:00
Michael du Breuil fc9b102b28 AP_Terrain: Add singleton 2019-04-26 08:07:19 +10:00
Pierre Kancir 58cd9361cb AP_Terrain: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Tom Pittenger 966b2652fb AP_Terrain: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker 1b4a2c4d6b AP_Terrain: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 2292113a5b AP_Terrain: log_terrain_data no longer takes a DataFlash argument 2019-01-18 11:17:40 +11:00
Peter Barker 2207f52c8e AP_Terrain: use Rally singleton 2019-01-09 10:14:16 +11:00
Peter Barker 1a853f6f82 AP_Terrain: use ahrs singleton 2018-11-08 20:59:45 +11:00
Michael du Breuil 4299eb9ba8 AP_Terrain: Reduce memory consumption, simplify enable checking 2018-06-29 09:00:01 +10:00
Andrew Tridgell f8542c86b6 AP_Terrain: added support for AP_Terrain for ChibiOS 2018-01-15 11:46:02 +11:00
Peter Barker 85756b7226 AP_Terrain: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Andrew Tridgell c9e140a946 AP_Terrain: removed unused variable 2017-06-07 19:59:14 +10:00
Michael du Breuil 3e2b5269a6 AP_Terrain: fix Coverity issue 91367 
Also converts to using the get_relative_position_D_home() functions rather then attempting to derive home itself
 2017-06-07 19:58:45 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 26771f5348 AP_Terrain: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Andrew Tridgell bbccdce229 AP_Terrain: prevent use of invalid Location 
loc is not initialised and can cause a fault on startup
 2016-12-22 15:50:30 +11:00
Peter Barker 58a03b83ca AP_Terrain: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Tom Pittenger 28648665b9 AP_Terrain: set param "Enable" to be FLAG_ENABLE 2016-08-04 11:31:37 -07:00
Randy Mackay 83922f9b65 AP_Terrain: update comments for height_terrain_difference_home 2016-04-30 10:33:01 +09:00
Randy Mackay d84321be2e AP_Terrain: height_amsl can correct for non-zero terrain alt at home position 2016-04-30 10:33:01 +09:00
Luis Vale Gonçalves f02e13b107 AP_Terrain: libraries_Text_revision 
text revision of messages
 2015-11-26 08:10:15 +11:00