/*
log terrain data to dataflash log
*/
void AP_Terrain::log_terrain_data(DataFlash_Class &dataflash)
{
if (!enable) {
return;
}
Location loc;
if (!ahrs.get_position(loc)) {
// we don't know where we are
return;
}
float terrain_height = 0;
float current_height = 0;
uint16_t pending, loaded;
height_amsl(loc, terrain_height);
height_above_terrain(current_height, true);
get_statistics(pending, loaded);
struct log_TERRAIN pkt = {
LOG_PACKET_HEADER_INIT(LOG_TERRAIN_MSG),
time_us : hal.scheduler->micros64(),
status : (uint8_t)status(),
lat : loc.lat,
lng : loc.lng,
spacing : (uint16_t)grid_spacing,
terrain_height : terrain_height,
current_height : current_height,
pending : pending,
loaded : loaded
};
/*
alternative interface to height_above_terrain where
relative_altitude is taken from loc.alt (in centimeters)
*/
bool AP_Terrain::height_above_terrain(const Location &loc, float &terrain_altitude)
{
float relative_home_altitude = loc.alt*0.01f;
if (!loc.flags.relative_alt) {
// loc.alt has home altitude added, remove it
relative_home_altitude -= ahrs.get_home().alt*0.01f;
}
return height_above_terrain(loc, relative_home_altitude, terrain_altitude);
}