QGroundControl
Ground Control Station for MAVLink Drones
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Public Member Functions | List of all members
TerrainQueryCoordinator Class Reference

Coordinates the three terrain-query workflows attached to a Vehicle: More...

#include <TerrainQueryCoordinator.h>

+ Inheritance diagram for TerrainQueryCoordinator:
+ Collaboration diagram for TerrainQueryCoordinator:

Public Member Functions

 TerrainQueryCoordinator (Vehicle *vehicle)
 
void doSetHomeWithTerrain (const QGeoCoordinate &coord)
 
void roiWithTerrain (const QGeoCoordinate &coord)
 
void sendROICommand (const QGeoCoordinate &coord, MAV_FRAME frame, float altitude)
 
void updateAltAboveTerrain ()
 

Detailed Description

Coordinates the three terrain-query workflows attached to a Vehicle:

  1. DO_SET_HOME: query terrain altitude for the target coord, then send MAV_CMD_DO_SET_HOME with a sanity-checked AMSL altitude.
  2. ROI (PX4 only): query terrain altitude for the target coord, then send MAV_CMD_DO_SET_ROI_LOCATION in MAV_FRAME_GLOBAL.
  3. Altitude-above-terrain polling: on Vehicle coordinate updates, query terrain and update the vehicle's altitudeAboveTerr fact, throttled by time/distance.

Each workflow owns a single outstanding TerrainAtCoordinateQuery; starting a new request while one is in-flight disconnects the previous one (auto-deleted by TerrainQuery). Callbacks access the Vehicle to send commands or write facts.

Definition at line 27 of file TerrainQueryCoordinator.h.

Constructor & Destructor Documentation

◆ TerrainQueryCoordinator()

TerrainQueryCoordinator::TerrainQueryCoordinator ( Vehicle *  vehicle)
explicit

Definition at line 23 of file TerrainQueryCoordinator.cc.

Member Function Documentation

◆ doSetHomeWithTerrain()

void TerrainQueryCoordinator::doSetHomeWithTerrain ( const QGeoCoordinate &  coord)

DO_SET_HOME terrain-backed flow. Starts a terrain query; when it resolves, sends MAV_CMD_DO_SET_HOME if the coordinate and resolved altitude are valid.

Definition at line 30 of file TerrainQueryCoordinator.cc.

References TerrainAtCoordinateQuery::terrainDataReceived().

Referenced by Vehicle::doSetHome().

◆ roiWithTerrain()

void TerrainQueryCoordinator::roiWithTerrain ( const QGeoCoordinate &  coord)

PX4 ROI flow. Starts a terrain query; when it resolves, sends MAV_CMD_DO_SET_ROI_LOCATION in MAV_FRAME_GLOBAL at the resolved altitude (falling back to home altitude on query failure).

Definition at line 87 of file TerrainQueryCoordinator.cc.

References TerrainAtCoordinateQuery::terrainDataReceived().

Referenced by Vehicle::guidedModeROI().

◆ sendROICommand()

void TerrainQueryCoordinator::sendROICommand ( const QGeoCoordinate &  coord,
MAV_FRAME  frame,
float  altitude 
)

Build + send MAV_CMD_DO_SET_ROI_LOCATION directly (no terrain query). Used by the ArduPilot MAV_FRAME_GLOBAL_RELATIVE_ALT direct path.

Definition at line 135 of file TerrainQueryCoordinator.cc.

References Vehicle::capabilityBits(), Vehicle::defaultComponentId(), Vehicle::sendMavCommand(), and Vehicle::sendMavCommandInt().

Referenced by Vehicle::guidedModeROI().

◆ updateAltAboveTerrain()

void TerrainQueryCoordinator::updateAltAboveTerrain ( )

Periodic altitude-above-terrain query. Connected to Vehicle::coordinateChanged. Throttled by time (500 ms min) and distance/altitude deltas (2 m / 0.5 m).

Definition at line 165 of file TerrainQueryCoordinator.cc.

References VehicleFactGroup::altitudeRelative(), Vehicle::coordinate(), Fact::rawValue(), and TerrainAtCoordinateQuery::terrainDataReceived().

The documentation for this class was generated from the following files: