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