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Split sending terrain report from terrain request #28244

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merged 6 commits into from
Oct 1, 2024
Merged

Split sending terrain report from terrain request #28244

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fb2362e
AP_Terrain: split sending terrain report from terrain request
peterbarker Sep 27, 2024
343e7fe
GCS_MAVLink: split sending terrain report from terrain request
peterbarker Sep 27, 2024
1fcb09d
ArduCopter: split sending terrain report from terrain request
peterbarker Sep 27, 2024
56b5b40
ArduPlane: split sending terrain report from terrain request
peterbarker Sep 27, 2024
2acb96d
ArduSub: split sending terrain report from terrain request
peterbarker Sep 27, 2024
3e5039d
Blimp: correct parameter documentation
peterbarker Sep 27, 2024
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13 changes: 9 additions & 4 deletions ArduCopter/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -336,12 +336,16 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
{
switch(id) {

case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE
case MSG_TERRAIN_REQUEST:
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
copter.terrain.send_request(chan);
#endif
break;
case MSG_TERRAIN_REPORT:
CHECK_PAYLOAD_SIZE(TERRAIN_REPORT);
copter.terrain.send_report(chan);
break;
#endif

case MSG_WIND:
CHECK_PAYLOAD_SIZE(WIND);
Expand Down Expand Up @@ -451,7 +455,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {

// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate
// @Description: MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS
// @Description: MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

// @Units: Hz
// @Range: 0 50
Expand Down Expand Up @@ -544,7 +548,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
#endif
MSG_DISTANCE_SENSOR,
#if AP_TERRAIN_AVAILABLE
MSG_TERRAIN,
MSG_TERRAIN_REQUEST,
MSG_TERRAIN_REPORT,
#endif
#if AP_BATTERY_ENABLED
MSG_BATTERY_STATUS,
Expand Down
13 changes: 9 additions & 4 deletions ArduPlane/GCS_Mavlink.cpp
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Expand Up @@ -423,12 +423,16 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
// unused
break;

case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE
case MSG_TERRAIN_REQUEST:
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
plane.terrain.send_request(chan);
#endif
break;
case MSG_TERRAIN_REPORT:
CHECK_PAYLOAD_SIZE(TERRAIN_REPORT);
plane.terrain.send_report(chan);
break;
#endif

case MSG_WIND:
CHECK_PAYLOAD_SIZE(WIND);
Expand Down Expand Up @@ -577,7 +581,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {

// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate
// @Description: MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
// @Description: MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
// @Units: Hz
// @Range: 0 50
// @Increment: 1
Expand Down Expand Up @@ -686,7 +690,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_DISTANCE_SENSOR,
MSG_SYSTEM_TIME,
#if AP_TERRAIN_AVAILABLE
MSG_TERRAIN,
MSG_TERRAIN_REPORT,
MSG_TERRAIN_REQUEST,
#endif
#if AP_BATTERY_ENABLED
MSG_BATTERY_STATUS,
Expand Down
11 changes: 8 additions & 3 deletions ArduSub/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -248,12 +248,16 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
send_info();
break;

case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE
case MSG_TERRAIN_REQUEST:
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
sub.terrain.send_request(chan);
#endif
break;
case MSG_TERRAIN_REPORT:
CHECK_PAYLOAD_SIZE(TERRAIN_REPORT);
sub.terrain.send_report(chan);
break;
#endif

default:
return GCS_MAVLINK::try_send_message(id);
Expand Down Expand Up @@ -407,7 +411,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
#endif
MSG_DISTANCE_SENSOR,
#if AP_TERRAIN_AVAILABLE
MSG_TERRAIN,
MSG_TERRAIN_REQUEST,
MSG_TERRAIN_REPORT,
#endif
#if AP_BATTERY_ENABLED
MSG_BATTERY_STATUS,
Expand Down
2 changes: 1 addition & 1 deletion Blimp/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -288,7 +288,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {

// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
// @Description: Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
Expand Down
3 changes: 3 additions & 0 deletions libraries/AP_Terrain/AP_Terrain.h
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Original file line number Diff line number Diff line change
Expand Up @@ -109,6 +109,9 @@ class AP_Terrain {
void send_request(mavlink_channel_t chan);

// handle terrain data and reports from GCS
// send a terrain report for the current location, extrapolating height as we do for navigation:
void send_report(mavlink_channel_t chan);
// send a terrain report or Location loc
void send_terrain_report(mavlink_channel_t chan, const Location &loc, bool extrapolate);
void handle_data(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg);
Expand Down
19 changes: 13 additions & 6 deletions libraries/AP_Terrain/TerrainGCS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,17 +115,12 @@ void AP_Terrain::send_request(mavlink_channel_t chan)

Location loc;
if (!AP::ahrs().get_location(loc)) {
// we don't know where we are. Send a report and request any cached blocks.
// we don't know where we are. Request any cached blocks.
// this allows for download of mission items when we have no GPS lock
loc = {};
send_terrain_report(chan, loc, true);
send_cache_request(chan);
return;
}

// always send a terrain report
send_terrain_report(chan, loc, true);

// did we request recently?
if (AP_HAL::millis() - last_request_time_ms[chan] < 2000) {
// too soon to request again
Expand Down Expand Up @@ -207,6 +202,18 @@ void AP_Terrain::handle_data(mavlink_channel_t chan, const mavlink_message_t &ms
}
}

/*
send a TERRAIN_REPORT for the current location
*/
void AP_Terrain::send_report(mavlink_channel_t chan)
{
Location loc;
if (!AP::ahrs().get_location(loc)) {
loc = {};
}

send_terrain_report(chan, loc, true);
}

/*
send a TERRAIN_REPORT for a location
Expand Down
6 changes: 4 additions & 2 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -1049,8 +1049,10 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_RANGEFINDER, MSG_RANGEFINDER},
#endif
{ MAVLINK_MSG_ID_DISTANCE_SENSOR, MSG_DISTANCE_SENSOR},
// request also does report:
{ MAVLINK_MSG_ID_TERRAIN_REQUEST, MSG_TERRAIN},
#if AP_TERRAIN_AVAILABLE
{ MAVLINK_MSG_ID_TERRAIN_REQUEST, MSG_TERRAIN_REQUEST},
{ MAVLINK_MSG_ID_TERRAIN_REPORT, MSG_TERRAIN_REPORT},
#endif
#if AP_MAVLINK_BATTERY2_ENABLED
{ MAVLINK_MSG_ID_BATTERY2, MSG_BATTERY2},
#endif
Expand Down
3 changes: 2 additions & 1 deletion libraries/GCS_MAVLink/ap_message.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,8 @@ enum ap_message : uint8_t {
MSG_WIND,
MSG_RANGEFINDER,
MSG_DISTANCE_SENSOR,
MSG_TERRAIN,
MSG_TERRAIN_REQUEST,
MSG_TERRAIN_REPORT,
MSG_BATTERY2,
MSG_CAMERA_FEEDBACK,
MSG_CAMERA_INFORMATION,
Expand Down
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