mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.3 KiB
C++
39 lines
1.3 KiB
C++
#include "Plane.h"
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#include <AP_RSSI/AP_RSSI.h>
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#include <AP_OpticalFlow/AP_OpticalFlow.h>
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#if AP_RANGEFINDER_ENABLED
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/*
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read the rangefinder and update height estimate
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*/
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void Plane::read_rangefinder(void)
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{
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// notify the rangefinder of our approximate altitude above ground to allow it to power on
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// during low-altitude flight when configured to power down during higher-altitude flight
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float height;
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#if AP_TERRAIN_AVAILABLE
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if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(height, true)) {
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rangefinder.set_estimated_terrain_height(height);
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} else
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#endif
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{
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// use the best available alt estimate via baro above home
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if (flight_stage == AP_FixedWing::FlightStage::LAND) {
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// ensure the rangefinder is powered-on when land alt is higher than home altitude.
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// This is done using the target alt which we know is below us and we are sinking to it
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height = height_above_target();
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} else {
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// otherwise just use the best available baro estimate above home.
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height = relative_altitude;
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}
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rangefinder.set_estimated_terrain_height(height);
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}
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rangefinder.update();
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rangefinder_height_update();
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}
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#endif // AP_RANGEFINDER_ENABLED
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