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Simple mission terrain support #6225

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merged 2 commits into from Mar 15, 2018

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DonLakeFlyer commented Mar 15, 2018

screen shot 2018-03-15 at 1 03 28 pm

The above example shows a plan which was done with all waypoints 20 meters above a varied terrain. You can see this as the consistent delta from the terrain bar for waypoints 2-4 at the bottom of the screen.

  • Simple mission items can now specify an altitude to be above terrain
  • Altitude mode is specified by a dropdown which has the options: Alt (rel), AMSL, Above Terrain
  • If you select Above Terrain the altitude you specify is the height above terrain
  • Creating/Updating plans which use Above Terrain altitude mode require an internet connection to communicate with the terrain server
  • Once the plan is saved you no longer need an internet connection
  • Below the Altitude field you will see the actual AMSL altitude for the item
  • Until the terrain query returns Actual AMSL Alt will show --.--
  • You will not be able to save/upload plans which use terrain data until all the values are updated based on terrain data from server
  • The Altitude Mode, Altitude and Actual AMSL Alt values are persisted to saved Plan files
  • If you load a plan back from the vehicle which uses Above Terrain Altitude Mode it will return back as an AMSL Altitude Mode item.
  • Terrain is not currently supported by complex items
  • This does not support the ArduPilot terrain following feature. It is just adjusting the actual heights of the mission items using terrain data.

Related to #6204

DonLakeFlyer
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DonLakeFlyer commented Mar 15, 2018

As always this is a fairly large scale new feature. So extra caution with initial usage would be a good idea :)

DonLakeFlyer

@DonLakeFlyer DonLakeFlyer merged commit 2676fe2 into mavlink:master Mar 15, 2018

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@DonLakeFlyer DonLakeFlyer deleted the DonLakeFlyer:MissionTerrain branch Mar 16, 2018

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terial commented Jul 4, 2018

Hey Don, any plans to support Ardupilot terrain following?

@Kelly-Foster

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Kelly-Foster commented Jul 4, 2018

+1.

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DonLakeFlyer commented Jul 5, 2018

Not at the moment.

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