Added a height profile to mission editor - #1716
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GetElevation() returns None while srtm.py fetches a tile in the background, and the two terrain frame branches of set_grad_dist() added that None to a float. Loading any mission containing terrain frame items threw a TypeError out of the grid update until the tiles happened to be cached. Skip the row instead; the gradient is recalculated on the next edit once the terrain has arrived.
getURIWithRedirect() returned the response body whatever the status, so a 404 page was written into the tile cache under the tile's name. From then on getTile() found the file, failed to open it as a zip and returned no terrain, permanently, with no retry even after the server was fixed. terrain.ardupilot.org currently 404s the whole SRTM3 set, which is enough to fill a cache with these. Return None on a non-200 status so nothing is cached. Existing bad entries can be cleared with: find ~/.tilecache/SRTM3 -name '*.hgt.zip' -size -1000c -delete
Adds a Height Profile button to the mission editor, for checking terrain clearance when planning long BVLOS missions. The top pane shows mission height against terrain height along the track with the waypoints labelled, and the bottom pane shows height above ground. Terrain can be switched between SRTM1 and SRTM3, with the track sampled at the spacing of the selected database, heights shown as AMSL, AGL or AboveHome, and units in metres or feet. Moving the cursor reads the values out at the top right of each pane. A profile width takes the worst case over a corridor either side of the track rather than the centreline alone, so the profile shows the clearance available if the mission is not flown exactly on track. Terrain height is then the highest in the corridor and height above ground the lowest. The corridor is stepped at the same resolution as the track so that widening it cannot step over a narrow ridge, with a budget on the total lookups that coarsens both directions together when needed, and says so when it has. A leg into a terrain frame waypoint follows the terrain, as ArduPilot interpolates height above ground rather than AMSL for those legs, so a pair of AGL waypoints either side of a hill stays clear of it. Mission items keep their frame until the profile resolves them, so the terrain selector applies to terrain frame waypoints as well as to the terrain. The window is a child frame in the mission editor's existing GUI process, so it reads the grid directly and follows edits. Redraws are debounced, since a mission load produces a burst of item events and each redraw samples terrain. Terrain missing because a tile is still downloading is left as a gap rather than drawn at the wrong height, and retried until it arrives.
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button off the mission editor
