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AP_Arming/AP_Terrain: pre-arm check if terrain allocation failed #12796

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merged 5 commits into from Nov 18, 2019

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rmackay9 commented Nov 8, 2019

This adds a pre-arm check that the terrain following could allocate it's memory which resolves this issue: #12574. The user will be aware that the terrain database is not available much earlier than they would have.

As stated in the issue, master currently simply emits a nearly-never-seen text to the GCS saying "Terrain: Allocation failed" and then sets the TERR_ENABLE parameter is set to zero. This means that most users will only find out that terrain is not available when a terrain failsafe triggers during their mission.

This issue can be recreated in master by doing this:

  • set TERR_SPACING = 10 (to make terrain following try to consume a lot of memory)
  • set SCR_ENABLE = 1 (to enable scripting)
  • set SCR_HEAP = 50k (or even larger)

Below is a screen shot of the Pre-Arm message after making the above changes:
randy-terr-fail

This PR also makes two drive-by fixes to small issues I noticed while working on the main fix:

  • constify a couple of functions within AP_Terrain that can be constified
  • add mission and rangefinder to the ARMING_CHECK parameter description Values. Most GCSs likely use the bitmask but Values are also there.
rmackay9 added 2 commits Nov 7, 2019
allows external caller to determine if terrain database failed to initialise
@rmackay9 rmackay9 force-pushed the rmackay9:terrain-alloc-prearm2 branch from d4e3e3f to 3aa263c Nov 8, 2019
@rmackay9 rmackay9 force-pushed the rmackay9:terrain-alloc-prearm2 branch from 3aa263c to 337de63 Nov 8, 2019
@tridge tridge merged commit d18432a into ArduPilot:master Nov 18, 2019
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@rmackay9 rmackay9 removed this from PR in Rover 4.0 backports Nov 20, 2019
@tridge tridge added this to Pending in Plane 4.0 Backports Dec 9, 2019
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rmackay9 commented Dec 16, 2019

this has been added to Copter-4.0.0-rc3

@rmackay9 rmackay9 moved this from PRs to 4.0.0-rc3 in Copter 4.0 backports Dec 16, 2019
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