GCS_MAVLink: added ALTITUDE message #141 #21652
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| if (rangefinder != nullptr) { | ||
| const AP_RangeFinder_Backend *s = rangefinder->find_instance(ROTATION_PITCH_270); | ||
| if (s != nullptr) { | ||
| bottom_clearance = s->distance_cm()*0.01; |
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If this is out of range somewhere shouldn't we fall back to terrain if we have it, and failing that fall back to relative? I don't see any masking/flags to let a GCS otherwise differentiate on these values.
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I think so. I'm actually confused as how this would be different to terrain - except that perhaps terrain wouldn't fall back to relative?
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Technically terrain should be ground level, while clearance would include things like top of tree, building, whatever rose off the ground below you.
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I brought this up for discussion at the DevCall. I've also fixed the compilation so we can see what it costs. A few things came up. The first is that @hendjoshsr71 pointed out this isn't really a good "all in one altitude message". It doesn't include any information about qnh altitudes, perhaps the most important thing up-and-coming. tridge suggested we could add a "is_for_current_location" boolean to the No determination was come to - I ran out of time to progress this on the call, but at least we have more talking points. |
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Durandal: |
| if (!_ahrs.get_location(loc)) { | ||
| return; | ||
| } | ||
| const float altitude_amsl = global_position_int_alt() * 0.001; //meters above ground/sea level |
| #endif | ||
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| float bottom_clearance = -1; //mavlink specs value for unavailable | ||
| const RangeFinder *rangefinder = RangeFinder::get_singleton(); |
| float bottom_clearance = -1; //mavlink specs value for unavailable | ||
| const RangeFinder *rangefinder = RangeFinder::get_singleton(); | ||
| if (rangefinder != nullptr) { | ||
| const AP_RangeFinder_Backend *s = rangefinder->find_instance(ROTATION_PITCH_270); |
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This would likely benefit from an earth frame rotation.
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