ardupilot/ArduSub/surface_bottom_detector.cpp

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// Jacob Walser: jacob@bluerobotics.com
#include "Sub.h"
// counter to verify contact with bottom
static uint32_t bottom_detector_count = 0;
static uint32_t surface_detector_count = 0;
static float current_depth = 0;
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// checks if we have hit bottom or surface and updates the ap.at_bottom and ap.at_surface flags
// called at MAIN_LOOP_RATE
// ToDo: doesn't need to be called this fast
void Sub::update_surface_and_bottom_detector()
{
if (!motors.armed()) { // only update when armed
set_surfaced(false);
set_bottomed(false);
return;
}
Vector3f velocity;
UNUSED_RESULT(ahrs.get_velocity_NED(velocity));
// check that we are not moving up or down
bool vel_stationary = velocity.z > -0.05 && velocity.z < 0.05;
if (ap.depth_sensor_present && sensor_health.depth) { // we can use the external pressure sensor for a very accurate and current measure of our z axis position
current_depth = barometer.get_altitude(); // cm
if (ap.at_surface) {
set_surfaced(current_depth > g.surface_depth/100.0 - 0.05); // add a 5cm buffer so it doesn't trigger too often
} else {
set_surfaced(current_depth > g.surface_depth/100.0); // If we are above surface depth, we are surfaced
}
if (motors.limit.throttle_lower && vel_stationary) {
// bottom criteria met - increment the counter and check if we've triggered
if (bottom_detector_count < ((float)BOTTOM_DETECTOR_TRIGGER_SEC)*MAIN_LOOP_RATE) {
bottom_detector_count++;
} else {
set_bottomed(true);
}
} else {
set_bottomed(false);
}
// with no external baro, the only thing we have to go by is a vertical velocity estimate
} else if (vel_stationary) {
if (motors.limit.throttle_upper) {
// surface criteria met, increment counter and see if we've triggered
if (surface_detector_count < ((float)SURFACE_DETECTOR_TRIGGER_SEC)*MAIN_LOOP_RATE) {
surface_detector_count++;
} else {
set_surfaced(true);
}
} else if (motors.limit.throttle_lower) {
// bottom criteria met, increment counter and see if we've triggered
if (bottom_detector_count < ((float)BOTTOM_DETECTOR_TRIGGER_SEC)*MAIN_LOOP_RATE) {
bottom_detector_count++;
} else {
set_bottomed(true);
}
} else { // we're not at the limits of throttle, so reset both detectors
set_surfaced(false);
set_bottomed(false);
}
} else { // we're moving up or down, so reset both detectors
set_surfaced(false);
set_bottomed(false);
}
}
void Sub::set_surfaced(bool at_surface)
{
if (ap.at_surface == at_surface) { // do nothing if state unchanged
return;
}
ap.at_surface = at_surface;
surface_detector_count = 0;
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if (ap.at_surface) {
LOGGER_WRITE_EVENT(LogEvent::SURFACED);
} else {
LOGGER_WRITE_EVENT(LogEvent::NOT_SURFACED);
}
}
void Sub::set_bottomed(bool at_bottom)
{
if (ap.at_bottom == at_bottom) { // do nothing if state unchanged
return;
}
ap.at_bottom = at_bottom;
bottom_detector_count = 0;
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if (ap.at_bottom) {
LOGGER_WRITE_EVENT(LogEvent::BOTTOMED);
} else {
LOGGER_WRITE_EVENT(LogEvent::NOT_BOTTOMED);
}
}