mirror of https://github.com/ArduPilot/ardupilot
318 lines
9.4 KiB
C++
318 lines
9.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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handle vehicle <-> GCS communications for terrain library
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <GCS_MAVLink/GCS.h>
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#include "AP_Terrain.h"
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#if AP_TERRAIN_AVAILABLE
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#include <assert.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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/*
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request any missing 4x4 grids from a block, given a grid_cache
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*/
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bool AP_Terrain::request_missing(mavlink_channel_t chan, struct grid_cache &gcache)
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{
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struct grid_block &grid = gcache.grid;
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if (grid.spacing != grid_spacing) {
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// an invalid grid
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return false;
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}
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// see if we are waiting for disk read
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if (gcache.state == GRID_CACHE_DISKWAIT) {
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// don't request data from the GCS till we know its not on disk
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return false;
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}
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// see if it is fully populated
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if ((grid.bitmap & bitmap_mask) == bitmap_mask) {
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// it is fully populated, nothing to do
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return false;
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}
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if (!HAVE_PAYLOAD_SPACE(chan, TERRAIN_REQUEST)) {
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// not enough buffer space
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return false;
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}
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/*
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ask the GCS to send a set of 4x4 grids
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*/
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mavlink_msg_terrain_request_send(chan, grid.lat, grid.lon, grid_spacing, bitmap_mask & ~grid.bitmap);
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last_request_time_ms[chan] = AP_HAL::millis();
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return true;
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}
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/*
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request any missing 4x4 grids from a block
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*/
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bool AP_Terrain::request_missing(mavlink_channel_t chan, const struct grid_info &info)
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{
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// find the grid
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struct grid_cache &gcache = find_grid_cache(info);
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return request_missing(chan, gcache);
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}
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/*
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send any pending terrain request to the GCS
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*/
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void AP_Terrain::send_request(mavlink_channel_t chan)
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{
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if (enable == 0 || !allocate()) {
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// not enabled
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return;
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}
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// see if we need to schedule some disk IO
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schedule_disk_io();
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Location loc;
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if (!ahrs.get_position(loc)) {
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// we don't know where we are
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return;
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}
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// always send a terrain report
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send_terrain_report(chan, loc, true);
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// did we request recently?
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if (AP_HAL::millis() - last_request_time_ms[chan] < 2000) {
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// too soon to request again
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return;
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}
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// request any missing 4x4 blocks in the current grid
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struct grid_info info;
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calculate_grid_info(loc, info);
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if (request_missing(chan, info)) {
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return;
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}
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// also request a larger set of up to 9 grids
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for (int8_t x=-1; x<=1; x++) {
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for (int8_t y=-1; y<=1; y++) {
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Location loc2 = loc;
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location_offset(loc2,
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x*TERRAIN_GRID_BLOCK_SIZE_X*0.7f*grid_spacing,
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y*TERRAIN_GRID_BLOCK_SIZE_Y*0.7f*grid_spacing);
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struct grid_info info2;
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calculate_grid_info(loc2, info2);
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if (request_missing(chan, info2)) {
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return;
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}
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}
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}
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// check cache blocks that may have been setup by a TERRAIN_CHECK
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for (uint16_t i=0; i<cache_size; i++) {
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if (cache[i].state >= GRID_CACHE_VALID) {
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if (request_missing(chan, cache[i])) {
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return;
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}
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}
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}
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// request the current loc last to ensure it has highest last
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// access time
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if (request_missing(chan, info)) {
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return;
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}
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}
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/*
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count bits in a uint64_t
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*/
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uint8_t AP_Terrain::bitcount64(uint64_t b)
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{
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return __builtin_popcount((unsigned)(b&0xFFFFFFFF)) + __builtin_popcount((unsigned)(b>>32));
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}
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/*
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get some statistics for TERRAIN_REPORT
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*/
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void AP_Terrain::get_statistics(uint16_t &pending, uint16_t &loaded)
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{
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pending = 0;
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loaded = 0;
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for (uint16_t i=0; i<cache_size; i++) {
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if (cache[i].grid.spacing != grid_spacing) {
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continue;
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}
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if (cache[i].state == GRID_CACHE_INVALID) {
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continue;
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}
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uint8_t maskbits = TERRAIN_GRID_BLOCK_MUL_X*TERRAIN_GRID_BLOCK_MUL_Y;
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if (cache[i].state == GRID_CACHE_DISKWAIT) {
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pending += maskbits;
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continue;
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}
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if (cache[i].state == GRID_CACHE_DIRTY) {
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// count dirty grids as a pending, so we know where there
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// are disk writes pending
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pending++;
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}
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uint8_t bitcount = bitcount64(cache[i].grid.bitmap);
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pending += maskbits - bitcount;
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loaded += bitcount;
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}
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}
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/*
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handle terrain messages from GCS
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*/
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void AP_Terrain::handle_data(mavlink_channel_t chan, mavlink_message_t *msg)
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{
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if (msg->msgid == MAVLINK_MSG_ID_TERRAIN_DATA) {
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handle_terrain_data(msg);
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} else if (msg->msgid == MAVLINK_MSG_ID_TERRAIN_CHECK) {
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handle_terrain_check(chan, msg);
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}
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}
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/*
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send a TERRAIN_REPORT for a location
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*/
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void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc, bool extrapolate)
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{
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float terrain_height = 0;
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float home_terrain_height = 0;
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uint16_t spacing = 0;
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Location current_loc;
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if (ahrs.get_position(current_loc) &&
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height_amsl(ahrs.get_home(), home_terrain_height, false) &&
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height_amsl(loc, terrain_height, false)) {
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// non-zero spacing indicates we have data
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spacing = grid_spacing;
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} else if (extrapolate && have_current_loc_height) {
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// show the extrapolated height, so logs show what height is
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// being used for navigation
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terrain_height = last_current_loc_height;
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}
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uint16_t pending, loaded;
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get_statistics(pending, loaded);
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float current_height;
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if (spacing == 0 && !(extrapolate && have_current_loc_height)) {
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current_height = 0;
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} else {
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if (current_loc.flags.relative_alt) {
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current_height = current_loc.alt*0.01f;
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} else {
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current_height = (current_loc.alt - ahrs.get_home().alt)*0.01f;
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}
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}
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current_height += home_terrain_height - terrain_height;
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if (HAVE_PAYLOAD_SPACE(chan, TERRAIN_REPORT)) {
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mavlink_msg_terrain_report_send(chan, loc.lat, loc.lng, spacing,
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terrain_height, current_height,
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pending, loaded);
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}
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}
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/*
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handle TERRAIN_CHECK messages from GCS
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*/
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void AP_Terrain::handle_terrain_check(mavlink_channel_t chan, mavlink_message_t *msg)
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{
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mavlink_terrain_check_t packet;
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mavlink_msg_terrain_check_decode(msg, &packet);
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Location loc;
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loc.lat = packet.lat;
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loc.lng = packet.lon;
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send_terrain_report(chan, loc, false);
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}
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/*
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handle TERRAIN_DATA messages from GCS
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*/
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void AP_Terrain::handle_terrain_data(mavlink_message_t *msg)
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{
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mavlink_terrain_data_t packet;
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mavlink_msg_terrain_data_decode(msg, &packet);
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uint16_t i;
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for (i=0; i<cache_size; i++) {
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if (cache[i].grid.lat == packet.lat &&
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cache[i].grid.lon == packet.lon &&
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cache[i].grid.spacing == packet.grid_spacing &&
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grid_spacing == packet.grid_spacing &&
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packet.gridbit < 56) {
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break;
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}
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}
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if (i == cache_size) {
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// we don't have that grid, ignore data
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return;
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}
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struct grid_cache &gcache = cache[i];
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struct grid_block &grid = gcache.grid;
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uint8_t idx_x = (packet.gridbit / TERRAIN_GRID_BLOCK_MUL_Y) * TERRAIN_GRID_MAVLINK_SIZE;
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uint8_t idx_y = (packet.gridbit % TERRAIN_GRID_BLOCK_MUL_Y) * TERRAIN_GRID_MAVLINK_SIZE;
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ASSERT_RANGE(idx_x,0,(TERRAIN_GRID_BLOCK_MUL_X-1)*TERRAIN_GRID_MAVLINK_SIZE);
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ASSERT_RANGE(idx_y,0,(TERRAIN_GRID_BLOCK_MUL_Y-1)*TERRAIN_GRID_MAVLINK_SIZE);
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for (uint8_t x=0; x<TERRAIN_GRID_MAVLINK_SIZE; x++) {
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for (uint8_t y=0; y<TERRAIN_GRID_MAVLINK_SIZE; y++) {
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grid.height[idx_x+x][idx_y+y] = packet.data[x*TERRAIN_GRID_MAVLINK_SIZE+y];
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}
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}
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gcache.grid.bitmap |= ((uint64_t)1) << packet.gridbit;
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// mark dirty for disk IO
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gcache.state = GRID_CACHE_DIRTY;
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#if TERRAIN_DEBUG
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hal.console->printf("Filled bit %u idx_x=%u idx_y=%u\n",
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(unsigned)packet.gridbit, (unsigned)idx_x, (unsigned)idx_y);
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if (gcache.grid.bitmap == bitmap_mask) {
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hal.console->printf("--lat=%12.7f --lon=%12.7f %u\n",
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grid.lat*1.0e-7f,
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grid.lon*1.0e-7f,
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grid.height[0][0]);
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Location loc2;
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loc2.lat = grid.lat;
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loc2.lng = grid.lon;
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location_offset(loc2, 28*grid_spacing, 32*grid_spacing);
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hal.console->printf("--lat=%12.7f --lon=%12.7f %u\n",
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loc2.lat*1.0e-7f,
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loc2.lng*1.0e-7f,
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grid.height[27][31]);
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}
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#endif
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// see if we need to schedule some disk IO
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update();
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}
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#endif // AP_TERRAIN_AVAILABLE
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