ArduPlane: split sending terrain report from terrain request

ArduPilot · Sep 27, 2024 · 3f3d441 · 3f3d441
1 parent dfa0f17
commit 3f3d441
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -423,12 +423,16 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
         // unused
         break;
 
-    case MSG_TERRAIN:
 #if AP_TERRAIN_AVAILABLE
+    case MSG_TERRAIN:
         CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
         plane.terrain.send_request(chan);
-#endif
         break;
+    case MSG_TERRAIN_REPORT:
+        CHECK_PAYLOAD_SIZE(TERRAIN_REPORT);
+        plane.terrain.send_report(chan);
+        break;
+#endif
 
     case MSG_WIND:
         CHECK_PAYLOAD_SIZE(WIND);
@@ -577,7 +581,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
 
     // @Param: EXTRA3
     // @DisplayName: Extra data type 3 stream rate
-    // @Description: MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
+    // @Description: MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
     // @Units: Hz
     // @Range: 0 50
     // @Increment: 1