Commit Graph

72 Commits

Author SHA1 Message Date
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
Caio Marcelo de Oliveira Filho 0aa520a273 AP_Terrain: use millis/micros/panic functions 2015-11-20 12:34:53 +09:00
Tom Pittenger 73c5234633 AP_Terrain: cache status
instead of computing the terrain status on-demand, assign it in update() and cache the result. Then external tasks that check the status won't be doing terrain intensive calculations in their thread. All the calculations needed for the status were being performed in update already so this is an optimization.
2015-11-09 08:36:41 +11:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Andrew Tridgell 0d26252bdb AP_Terrain: don't allocate cache array when terrain not enabled
this makes it easy to save 22k of ram when running other experiments
2015-09-23 08:31:17 +10:00
Gustavo Jose de Sousa fcd1d4938a AP_Terrain: standardize inclusion of libaries headers
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
2015-08-11 16:38:24 +10:00
Randy Mackay 7d2c0079ff Terrain: set HAL capabilities bit 2015-07-31 14:50:26 +09:00
Tim Ryan d7fe6bfe0d Terrain: cast grid_spacing to fix OSX clang error 2015-06-04 21:01:34 +09:00
Peter Barker 9e0b5910e2 AP_Terrain: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Andrew Tridgell c7044c4f91 AP_Terrain: make terrain request times per channel
otherwise we can miss sending one if we send first to a channel not
being listened to
2015-05-26 17:27:51 +10:00
Andrew Tridgell af4dee39d8 AP_Terrain: added note on CPU cost of height_amsl() 2014-08-07 09:51:14 +10:00
Andrew Tridgell dc72dfb70a AP_Terrain: added terrain lookahead API
this allows for predicting altitude needed to climb over upcoming
terrain
2014-08-07 09:30:35 +10:00
Andrew Tridgell 642a07b6bd AP_Terrain: enable the terrain database by default
MissionPlanner now supports terrain data, and having terrain data in
logs is useful even if users don't fly terrain missions
2014-08-06 20:53:34 +10:00
Andrew Tridgell a701fa2098 AP_Terrain: added automatic rally point checking 2014-08-06 17:59:19 +10:00
Andrew Tridgell 7da939047f AP_Terrain: added automatic waypoint checking
check we have terrain data for all waypoints
2014-08-06 17:59:19 +10:00
Andrew Tridgell 9ca65602c6 AP_Terrain: added dataflash logging 2014-08-06 17:59:19 +10:00
Andrew Tridgell 147a7b8b69 AP_Terrain: added extrapolation based on last available data
if we run out of terrain data then extrapolate using the last
available terrain height at the AHRS position. This can be used to
cope with GCS outages over long distances where the terrain data isn't
preloaded
2014-08-06 17:59:18 +10:00
Andrew Tridgell bb31a45596 AP_Terrain: expand parameter docs 2014-07-25 13:18:48 +10:00
Andrew Tridgell c4047f6f11 AP_Terrain: rename find_grid() to find_grid_cache()
thanks Randy!
2014-07-25 09:52:20 +10:00