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
Fixes:
../../libraries/AP_Terrain/TerrainGCS.cpp: In member function ‘void AP_Terrain::
handle_terrain_data(const mavlink_message_t&)’:
../../libraries/AP_Terrain/AP_Terrain.h:65:55: error: comparison between signed
and unsigned integer expressions [-Werror=sign-compare]
#define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()*
100))
~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
~~~~
../../libraries/AP_Terrain/AP_Terrain.h:65:55: note: in definition of macro ‘TER
RAIN_LATLON_EQUAL’
#define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()*
100))
^~
compilation terminated due to -Wfatal-errors.
cc1plus: some warnings being treated as errors
In file included from ../../libraries/AP_Terrain/TerrainUtil.cpp:24:0:
../../libraries/AP_Terrain/TerrainUtil.cpp: In member function ‘AP_Terrain::grid
_cache& AP_Terrain::find_grid_cache(const AP_Terrain::grid_info&)’:
../../libraries/AP_Terrain/AP_Terrain.h:65:55: error: comparison between signed
and unsigned integer expressions [-Werror=sign-compare]
#define TERRAIN_LATLON_EQUAL(v1, v2) (labs((v1)-(v2)) <= unsigned(margin.get()*
100))
~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
~~~~
The return value of labs is signed
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
[451/678] Compiling libraries/AP_Terrain/TerrainIO.cpp
../../libraries/AP_Terrain/TerrainIO.cpp: In member function ‘void AP_Terrain::open_file()’:
../../libraries/AP_Terrain/TerrainIO.cpp:167:35: error: ‘.DAT’ directive output may be truncated writing 4 bytes into a region of size between 2 and 5 [-Werror=format-truncation=]
167 | snprintf(p, 13, "/%c%02u%c%03u.DAT",
| ^~~~
compilation terminated due to -Wfatal-errors.
this fixes several issues:
- allows users to download terrain data at home with no GPS lock
- allows for a TERRAIN_CHECK without GPS lock
- retries opening of files every 5 seconds to allow for remount of sd
card after boot
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
Andrew Tridgell
Peter Barker
Andy Piper
Henry Wurzburg
Jaaaky
Randy Mackay
Michael du Breuil
Pierre Kancir
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas