mirror of https://github.com/ArduPilot/ardupilot
39 lines
880 B
C++
39 lines
880 B
C++
#include "Copter.h"
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// update terrain data
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void Copter::terrain_update()
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{
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#if AP_TERRAIN_AVAILABLE
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terrain.update();
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// tell the rangefinder our height, so it can go into power saving
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// mode if available
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#if RANGEFINDER_ENABLED == ENABLED
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float height;
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if (terrain.height_above_terrain(height, true)) {
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rangefinder.set_estimated_terrain_height(height);
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}
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#endif
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#endif
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}
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// log terrain data - should be called at 1hz
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void Copter::terrain_logging()
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{
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#if AP_TERRAIN_AVAILABLE
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if (should_log(MASK_LOG_GPS)) {
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terrain.log_terrain_data();
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}
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#endif
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}
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// return terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)
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float Copter::get_terrain_margin() const
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{
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#if AP_TERRAIN_AVAILABLE
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return MAX(g2.terrain_margin.get(), 0.1);
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#else
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return 10;
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#endif
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}
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