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AP_Terrain: added parameter for terrain cache size #27079

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merged 1 commit into from
May 17, 2024
Merged

AP_Terrain: added parameter for terrain cache size #27079

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13 changes: 10 additions & 3 deletions libraries/AP_Terrain/AP_Terrain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,14 @@ const AP_Param::GroupInfo AP_Terrain::var_info[] = {
// @Range: 0 50
// @User: Advanced
AP_GROUPINFO("OFS_MAX", 4, AP_Terrain, offset_max, 30),


// @Param: CACHE_SZ
// @DisplayName: Terrain cache size
// @Description: The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory
// @Range: 0 128
// @User: Advanced
AP_GROUPINFO("CACHE_SZ", 5, AP_Terrain, config_cache_size, TERRAIN_GRID_BLOCK_CACHE_SIZE),

AP_GROUPEND
};

Expand Down Expand Up @@ -488,13 +495,13 @@ bool AP_Terrain::allocate(void)
if (cache != nullptr) {
return true;
}
cache = (struct grid_cache *)calloc(TERRAIN_GRID_BLOCK_CACHE_SIZE, sizeof(cache[0]));
cache = (struct grid_cache *)calloc(config_cache_size, sizeof(cache[0]));
if (cache == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Terrain: Allocation failed");
memory_alloc_failed = true;
return false;
}
cache_size = TERRAIN_GRID_BLOCK_CACHE_SIZE;
cache_size = config_cache_size;
return true;
}

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3 changes: 3 additions & 0 deletions libraries/AP_Terrain/AP_Terrain.h
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Expand Up @@ -51,7 +51,9 @@
#define TERRAIN_GRID_BLOCK_SIZE_Y (TERRAIN_GRID_MAVLINK_SIZE*TERRAIN_GRID_BLOCK_MUL_Y)

// number of grid_blocks in the LRU memory cache
#ifndef TERRAIN_GRID_BLOCK_CACHE_SIZE
#define TERRAIN_GRID_BLOCK_CACHE_SIZE 12
#endif

// format of grid on disk
#define TERRAIN_GRID_FORMAT_VERSION 1
Expand Down Expand Up @@ -371,6 +373,7 @@ class AP_Terrain {
AP_Int16 grid_spacing; // meters between grid points
AP_Int16 options; // option bits
AP_Float offset_max;
AP_Int16 config_cache_size;

enum class Options {
DisableDownload = (1U<<0),
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