Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: Fix surface/bottom detector logic

This commit is contained in:
Jacob Walser 2016-12-06 18:34:58 -05:00 committed by Andrew Tridgell
parent fdf9e5fde0
commit 4278ae8a64
1 changed files with 7 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduSub/surface_bottom_detector.cpp
View File

@ -1,5 +1,5 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// Code by Jacob Walser: jwalser90@gmail.com
// Jacob Walser: jacob@bluerobotics.com
#include "Sub.h"
@ -87,10 +87,11 @@ void Sub::set_surfaced(bool at_surface) {
ap.at_surface = at_surface;
if(!ap.at_surface) {
surface_detector_count = 0;
if(ap.at_surface) {
Log_Write_Event(DATA_SURFACED);
} else {
surface_detector_count = 0;
Log_Write_Event(DATA_NOT_SURFACED);
}
}
@ -103,10 +104,11 @@ void Sub::set_bottomed(bool at_bottom) {
ap.at_bottom = at_bottom;
if(!ap.at_bottom) {
bottom_detector_count = 0;
if(ap.at_bottom) {
Log_Write_Event(DATA_BOTTOMED);
} else {
bottom_detector_count = 0;
Log_Write_Event(DATA_NOT_BOTTOMED);
}
}