/*
1hz update function. This is here to ensure progress is made on disk
IO even if no MAVLink send_request() operations are called for a
while.
*/
void AP_Terrain::update(void)
{
// just schedule any needed disk IO
schedule_disk_io();
// try to ensure the home location is populated
float height;
height_amsl(ahrs.get_home(), height);
// update the cached current location height
Location loc;
if (ahrs.get_position(loc) && height_amsl(loc, height)) {
last_current_loc_height = height;
have_current_loc_height = true;
}
// check for pending mission data
update_mission_data();
// check for pending rally data
update_rally_data();
// update capabilities
if (enable) {
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
} else {
hal.util->clear_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
}
}
/*
1hz update function. This is here to ensure progress is made on disk
IO even if no MAVLink send_request() operations are called for a
while.
*/
void AP_Terrain::update(void)
{
// just schedule any needed disk IO
schedule_disk_io();
// try to ensure the home location is populated
float height;
height_amsl(ahrs.get_home(), height);
}
/*
1hz update function. This is here to ensure progress is made on disk
IO even if no MAVLink send_request() operations are called for a
while.
*/
void AP_Terrain::update(void)
{
// just schedule any needed disk IO
schedule_disk_io();
const AP_AHRS &ahrs = AP::ahrs();
// try to ensure the home location is populated
float height;
height_amsl(ahrs.get_home(), height, false);
// update the cached current location height
Location loc;
bool pos_valid = ahrs.get_position(loc);
bool terrain_valid = pos_valid && height_amsl(loc, height, false);
if (pos_valid && terrain_valid) {
last_current_loc_height = height;
have_current_loc_height = true;
}
// check for pending mission data
update_mission_data();
// check for pending rally data
update_rally_data();
// update capabilities and status
if (allocate()) {
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
if (!pos_valid) {
// we don't know where we are
system_status = TerrainStatusUnhealthy;
} else if (!terrain_valid) {
// we don't have terrain data at current location
system_status = TerrainStatusUnhealthy;
} else {
system_status = TerrainStatusOK;
}
} else {
hal.util->clear_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
system_status = TerrainStatusDisabled;
}
}
/*
1hz update function. This is here to ensure progress is made on disk
IO even if no MAVLink send_request() operations are called for a
while.
*/
void AP_Terrain::update(void)
{
// just schedule any needed disk IO
schedule_disk_io();
// try to ensure the home location is populated
float height;
height_amsl(ahrs.get_home(), height);
// update the cached current location height
Location loc;
if (ahrs.get_position(loc) && height_amsl(loc, height)) {
last_current_loc_height = height;
have_current_loc_height = true;
}
// check for pending mission data
update_mission_data();
// check for pending rally data
update_rally_data();
}
