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navigator: refactor vcmd -> vehicle_command

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This commit is contained in:
Matthias Grob 2025-04-25 13:50:58 +02:00 committed by Silvan Fuhrer
parent 176783dbcb
commit da870c4dce
10 changed files with 129 additions and 134 deletions
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6
docs/en/camera/camera_architecture.md
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@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

6
docs/en/camera/mavlink_v2_camera.md
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@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_command(&vcmd);
_navigator->publish_vehicle_command(&vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

6
docs/ko/camera/camera_architecture.md
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@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

6
docs/uk/camera/mavlink_v2_camera.md
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@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_command(&vcmd);
_navigator->publish_vehicle_command(&vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

6
docs/zh/camera/mavlink_v2_camera.md
View File

@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_command(&vcmd);
_navigator->publish_vehicle_command(&vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

17
src/modules/navigator/land.cpp
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@ -109,17 +109,16 @@ Land::on_active()
if (_navigator->abort_landing()) {
// send reposition cmd to get out of land mode (will loiter at current position and altitude)
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
vcmd.param1 = -1;
vcmd.param2 = 1;
vcmd.param5 = _navigator->get_global_position()->lat;
vcmd.param6 = _navigator->get_global_position()->lon;
vehicle_command_s vehicle_command{};
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
vehicle_command.param1 = -1;
vehicle_command.param2 = 1;
vehicle_command.param5 = _navigator->get_global_position()->lat;
vehicle_command.param6 = _navigator->get_global_position()->lon;
// as we don't know the landing point altitude assume the worst case (abort at 0m above ground),
// and thus always climb MIS_LND_ABRT_ALT
vcmd.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
vehicle_command.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
_navigator->publish_vehicle_command(&vcmd);
_navigator->publish_vehicle_command(&vehicle_command);
}
}

18
src/modules/navigator/mission_base.cpp
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@ -915,16 +915,14 @@ MissionBase::do_abort_landing()
}
// send reposition cmd to get out of mission
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
vcmd.param1 = -1;
vcmd.param2 = 1;
vcmd.param5 = _mission_item.lat;
vcmd.param6 = _mission_item.lon;
vcmd.param7 = alt_sp;
_navigator->publish_vehicle_command(&vcmd);
vehicle_command_s vehicle_command{};
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
vehicle_command.param1 = -1;
vehicle_command.param2 = 1;
vehicle_command.param5 = _mission_item.lat;
vehicle_command.param6 = _mission_item.lon;
vehicle_command.param7 = alt_sp;
_navigator->publish_vehicle_command(&vehicle_command);
}
void MissionBase::publish_navigator_mission_item()

36
src/modules/navigator/mission_block.cpp
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@ -529,27 +529,27 @@ MissionBlock::issue_command(const mission_item_s &item)
// Mission item's NAV_CMD enums directly map to the according vehicle command
// So set the raw value directly (MAV_FRAME_MISSION mission item)
vehicle_command_s vcmd = {};
vcmd.command = item.nav_cmd;
vcmd.param1 = item.params[0];
vcmd.param2 = item.params[1];
vcmd.param3 = item.params[2];
vcmd.param4 = item.params[3];
vcmd.param5 = static_cast<double>(item.params[4]);
vcmd.param6 = static_cast<double>(item.params[5]);
vcmd.param7 = item.params[6];
vehicle_command_s vehicle_command{};
vehicle_command.command = item.nav_cmd;
vehicle_command.param1 = item.params[0];
vehicle_command.param2 = item.params[1];
vehicle_command.param3 = item.params[2];
vehicle_command.param4 = item.params[3];
vehicle_command.param5 = static_cast<double>(item.params[4]);
vehicle_command.param6 = static_cast<double>(item.params[5]);
vehicle_command.param7 = item.params[6];
if (item.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION) {
// We need to send out the ROI location that was parsed potentially with double precision to lat/lon because mission item parameters 5 and 6 only have float precision
vcmd.param5 = item.lat;
vcmd.param6 = item.lon;
vehicle_command.param5 = item.lat;
vehicle_command.param6 = item.lon;
if (item.altitude_is_relative) {
vcmd.param7 = item.altitude + _navigator->get_home_position()->alt;
vehicle_command.param7 = item.altitude + _navigator->get_home_position()->alt;
}
}
_navigator->publish_vehicle_command(&vcmd);
_navigator->publish_vehicle_command(&vehicle_command);
if (item_has_timeout(item)) {
_timestamp_command_timeout = hrt_absolute_time();
@ -781,11 +781,11 @@ MissionBlock::set_land_item(struct mission_item_s *item)
/* VTOL transition to RW before landing */
if (_navigator->force_vtol()) {
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
vcmd.param2 = 0.0f;
_navigator->publish_vehicle_command(&vcmd);
vehicle_command_s vehicle_command{};
vehicle_command.command = NAV_CMD_DO_VTOL_TRANSITION;
vehicle_command.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
vehicle_command.param2 = 0.0f;
_navigator->publish_vehicle_command(&vehicle_command);
}
/* set the land item */

4
src/modules/navigator/navigator.h
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@ -135,9 +135,9 @@ public:
* Fill in timestamp, source and target IDs.
* target_component special handling (e.g. For Camera control, set camera ID)
*
* @param vcmd Vehicle command to publish
* @param vehicle_command Vehicle command to publish
*/
void publish_vehicle_command(vehicle_command_s *vcmd);
void publish_vehicle_command(vehicle_command_s *vehicle_command);
#if CONFIG_NAVIGATOR_ADSB
/**

158
src/modules/navigator/navigator_main.cpp
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@ -662,10 +662,10 @@ void Navigator::run()
uint8_t result{vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED};
if (_mission.get_land_start_available()) {
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vcmd.param1 = _mission.get_land_start_index();
publish_vehicle_command(&vcmd);
vehicle_command_s vehicle_command{};
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vehicle_command.param1 = _mission.get_land_start_index();
publish_vehicle_command(&vehicle_command);
} else {
PX4_WARN("planned mission landing not available");
@ -864,10 +864,10 @@ void Navigator::run()
if (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND &&
_vstatus.is_vtol && _vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING &&
force_vtol()) {
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
publish_vehicle_command(&vcmd);
vehicle_command_s vehicle_command{};
vehicle_command.command = NAV_CMD_DO_VTOL_TRANSITION;
vehicle_command.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
publish_vehicle_command(&vehicle_command);
mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
"Transition to hover mode and descend");
@ -1220,28 +1220,28 @@ void Navigator::load_fence_from_file(const char *filename)
void Navigator::take_traffic_conflict_action()
{
vehicle_command_s vcmd = {};
vehicle_command_s vehicle_command{};
switch (_adsb_conflict._conflict_detection_params.traffic_avoidance_mode) {
case 2: {
_rtl.set_return_alt_min(true);
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
publish_vehicle_command(&vcmd);
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
publish_vehicle_command(&vehicle_command);
break;
}
case 3: {
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
publish_vehicle_command(&vcmd);
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
publish_vehicle_command(&vehicle_command);
break;
}
case 4: {
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
publish_vehicle_command(&vcmd);
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
publish_vehicle_command(&vehicle_command);
break;
}
@ -1392,34 +1392,32 @@ void Navigator::publish_navigator_status()
}
}
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)
{
vcmd->timestamp = hrt_absolute_time();
vcmd->source_system = _vstatus.system_id;
vcmd->source_component = _vstatus.component_id;
vcmd->target_system = _vstatus.system_id;
vcmd->confirmation = false;
vcmd->from_external = false;
vehicle_command->timestamp = hrt_absolute_time();
vehicle_command->source_system = _vstatus.system_id;
vehicle_command->source_component = _vstatus.component_id;
vehicle_command->target_system = _vstatus.system_id;
vehicle_command->confirmation = false;
vehicle_command->from_external = false;
int target_camera_component_id;
// The camera commands are not processed on the autopilot but will be
// sent to the mavlink links to other components.
switch (vcmd->command) {
switch (vehicle_command->command) {
case NAV_CMD_IMAGE_START_CAPTURE:
if (static_cast<int>(vcmd->param3) == 1) {
if (static_cast<int>(vehicle_command->param3) == 1) {
// When sending a single capture we need to include the sequence number, thus camera_trigger needs to handle this cmd
vcmd->param1 = 0.0f;
vcmd->param2 = 0.0f;
vcmd->param3 = 0.0f;
vcmd->param4 = 0.0f;
vcmd->param5 = 1.0;
vcmd->param6 = 0.0;
vcmd->param7 = 0.0f;
vcmd->command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
vehicle_command->param1 = 0.0f;
vehicle_command->param2 = 0.0f;
vehicle_command->param3 = 0.0f;
vehicle_command->param4 = 0.0f;
vehicle_command->param5 = 1.0;
vehicle_command->param6 = 0.0;
vehicle_command->param7 = 0.0f;
vehicle_command->command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
} else {
// We are only capturing multiple if param3 is 0 or > 1.
@ -1427,65 +1425,65 @@ void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)
_is_capturing_images = true;
}
target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
target_camera_component_id = static_cast<int>(vehicle_command->param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vcmd->target_component = target_camera_component_id;
vehicle_command->target_component = target_camera_component_id;
} else {
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_IMAGE_STOP_CAPTURE:
_is_capturing_images = false;
target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
target_camera_component_id = static_cast<int>(vehicle_command->param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vcmd->target_component = target_camera_component_id;
vehicle_command->target_component = target_camera_component_id;
} else {
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_SET_CAMERA_MODE:
target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
target_camera_component_id = static_cast<int>(vehicle_command->param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vcmd->target_component = target_camera_component_id;
vehicle_command->target_component = target_camera_component_id;
} else {
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_SET_CAMERA_SOURCE:
target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
target_camera_component_id = static_cast<int>(vehicle_command->param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vcmd->target_component = target_camera_component_id;
vehicle_command->target_component = target_camera_component_id;
} else {
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
break;
default:
vcmd->target_component = 0;
vehicle_command->target_component = 0;
break;
}
_vehicle_cmd_pub.publish(*vcmd);
_vehicle_cmd_pub.publish(*vehicle_command);
}
void Navigator::publish_distance_sensor_mode_request()
@ -1531,24 +1529,24 @@ void Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_
void Navigator::acquire_gimbal_control()
{
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
vcmd.param1 = _vstatus.system_id;
vcmd.param2 = _vstatus.component_id;
vcmd.param3 = -1.0f; // Leave unchanged.
vcmd.param4 = -1.0f; // Leave unchanged.
publish_vehicle_command(&vcmd);
vehicle_command_s vehicle_command{};
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
vehicle_command.param1 = _vstatus.system_id;
vehicle_command.param2 = _vstatus.component_id;
vehicle_command.param3 = -1.0f; // Leave unchanged.
vehicle_command.param4 = -1.0f; // Leave unchanged.
publish_vehicle_command(&vehicle_command);
}
void Navigator::release_gimbal_control()
{
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
vcmd.param1 = -3.0f; // Remove control if it had it.
vcmd.param2 = -3.0f; // Remove control if it had it.
vcmd.param3 = -1.0f; // Leave unchanged.
vcmd.param4 = -1.0f; // Leave unchanged.
publish_vehicle_command(&vcmd);
vehicle_command_s vehicle_command{};
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
vehicle_command.param1 = -3.0f; // Remove control if it had it.
vehicle_command.param2 = -3.0f; // Remove control if it had it.
vehicle_command.param3 = -1.0f; // Leave unchanged.
vehicle_command.param4 = -1.0f; // Leave unchanged.
publish_vehicle_command(&vehicle_command);
}
@ -1556,10 +1554,10 @@ void
Navigator::stop_capturing_images()
{
if (_is_capturing_images) {
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_IMAGE_STOP_CAPTURE;
vcmd.param1 = 0.0f;
publish_vehicle_command(&vcmd);
vehicle_command_s vehicle_command{};
vehicle_command.command = NAV_CMD_IMAGE_STOP_CAPTURE;
vehicle_command.param1 = 0.0f;
publish_vehicle_command(&vehicle_command);
// _is_capturing_images is reset inside publish_vehicle_command.
}
@ -1607,24 +1605,24 @@ void Navigator::mode_completed(uint8_t nav_state, uint8_t result)
void Navigator::disable_camera_trigger()
{
// Disable camera trigger
vehicle_command_s cmd {};
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
vehicle_command_s vehicle_command{};
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
// Pause trigger
cmd.param1 = -1.0f;
cmd.param3 = 1.0f;
publish_vehicle_command(&cmd);
vehicle_command.param1 = -1.0f;
vehicle_command.param3 = 1.0f;
publish_vehicle_command(&vehicle_command);
}
void Navigator::set_gimbal_neutral()
{
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW;
vcmd.param1 = NAN;
vcmd.param2 = NAN;
vcmd.param3 = NAN;
vcmd.param4 = NAN;
vcmd.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
publish_vehicle_command(&vcmd);
vehicle_command_s vehicle_command{};
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW;
vehicle_command.param1 = NAN;
vehicle_command.param2 = NAN;
vehicle_command.param3 = NAN;
vehicle_command.param4 = NAN;
vehicle_command.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
publish_vehicle_command(&vehicle_command);
}
void Navigator::sendWarningDescentStoppedDueToTerrain()