mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.7 KiB
Lua
60 lines
1.7 KiB
Lua
-- height above terrain warning script
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-- min altitude above terrain, script will warn if lower than this
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local terrain_min_alt = 20
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-- warning is only enabled further than this distance from home
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local home_dist_enable = 25
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-- must have climbed at least this distance above terrain since arming to enable warning
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local height_enable = 10
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-- warning repeat time in ms
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local warn_ms = 10000
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local height_threshold_passed = false
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function update()
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if not arming:is_armed() then
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-- not armed, nothing to do, reset height threshold
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height_threshold_passed = false
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return update, 1000
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end
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-- get the height above terrain, allowing extrapolation
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-- this used the terrain database only, not considering rangefinders
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local terrain_height = terrain:height_above_terrain(true)
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if not terrain_height then
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-- could not get a valid terrain alt
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return update, 1000
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end
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if (not height_threshold_passed) and (terrain_height < height_enable) then
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-- not climbed far enough to enable, nothing to do
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return update, 1000
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end
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height_threshold_passed = true
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local home_dist = ahrs:get_relative_position_NED_home()
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if home_dist then
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-- only check home dist if we have a valid home
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-- do not consider altitude above home in radius calc
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home_dist:z(0)
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if home_dist:length() < home_dist_enable then
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-- to close to home
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return update, 1000
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end
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end
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if terrain_height < terrain_min_alt then
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-- send message at severity level 2 (MAV_SEVERITY_CRITICAL), this will appear on the MP HUD and be read out if speech is enabled
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gcs:send_text(2, string.format("Terrain Warning: %0.1f meters",terrain_height))
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return update, warn_ms
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end
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return update, 1000
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end
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return update, 10000
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