mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
// Code by Rustom Jehangir: rusty@bluerobotics.com
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#include "Sub.h"
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// Count total vehicle turns to avoid tangling tether
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void Sub::update_turn_counter()
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{
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// Determine state
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// 0: 0-90 deg, 1: 90-180 deg, 2: -180--90 deg, 3: -90--0 deg
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uint8_t turn_state;
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if (ahrs.yaw >= 0.0f && ahrs.yaw < radians(90)) {
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turn_state = 0;
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} else if (ahrs.yaw > radians(90)) {
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turn_state = 1;
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} else if (ahrs.yaw < -radians(90)) {
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turn_state = 2;
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} else {
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turn_state = 3;
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}
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// If yaw went from negative to positive (right turn)
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switch (last_turn_state) {
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case 0:
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if (turn_state == 1) {
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quarter_turn_count++;
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}
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if (turn_state == 3) {
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quarter_turn_count--;
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}
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break;
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case 1:
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if (turn_state == 2) {
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quarter_turn_count++;
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}
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if (turn_state == 0) {
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quarter_turn_count--;
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}
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break;
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case 2:
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if (turn_state == 3) {
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quarter_turn_count++;
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}
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if (turn_state == 1) {
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quarter_turn_count--;
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}
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break;
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case 3:
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if (turn_state == 0) {
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quarter_turn_count++;
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}
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if (turn_state == 2) {
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quarter_turn_count--;
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}
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break;
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}
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static int32_t last_turn_count_printed;
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static uint32_t last_turn_announce_ms = 0;
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uint32_t tnow = AP_HAL::millis();
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if (quarter_turn_count/4 != last_turn_count_printed && tnow > last_turn_announce_ms + 2000) {
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last_turn_announce_ms = tnow;
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gcs().send_text(MAV_SEVERITY_INFO,"Tether is turned %i turns %s",int32_t(abs(quarter_turn_count)/4),(quarter_turn_count>0)?"to the right":"to the left");
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last_turn_count_printed = quarter_turn_count/4;
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}
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last_turn_state = turn_state;
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}
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