Rover: Update crash_check.cpp to remove stuck check for boat #29125
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Hi @agregghai, Thanks for looking into this. The Rover crash check was designed some time ago when the code was much simpler than it is today. I guess you're seeing false positives where the vehicle is being switched into Hold mode? Instead of just disabling the check I wonder if we could improve the velocity check by pulling it from the position controller. Another idea is to add CRASH_xxx parameters which allow the user to set some of the values instead of using hard-coded values |
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Hi Randy,
Thanks for the note. We run boats with rover code and we are actually just
looking at implementing the crash check. We want to use it to go into hold
upon an unusual attitude (boat flips over). I looked at the code and was
concerned because we have no way to measure boatspeed (speed through the
water). So in the current code, if the GPS velocity is 0, but the boat is
holding position against a strong current, it could trigger a crash because
the GPS velocity is too low and the motor is fighting the current.
I think generally the velocity crash check doesn't make much sense for a
boat. But just my thoughts?
Andrew
…On Thu, Jan 23, 2025 at 12:54 AM Randy Mackay ***@***.***> wrote:
Hi @agregghai <https://github.com/agregghai>,
Thanks for looking into this. The Rover crash check was designed some time
ago when the code was much simpler than it is today. I guess you're seeing
false positives where the vehicle is being switched into Hold mode?
Instead of just disabling the check I wonder if we could improve the
velocity check by pulling it from the position controller. Another idea is
to add CRASH_xxx parameters which allow the user to set some of the values
instead of using hard-coded values
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Hi @agregghai, My concern is that if we simply disable the crash check the motors won't turn off when the boat is beached. I also think that in practice it will be very difficult for a moving vehicle to have its velocity stay below 0.1 m/s for 2 seconds. There will be too much noise in the estimated velocity for this to actually happen. To move forward on this, I think we need a real case where it's happening. That could be an actual vehicle or in a simulator BTW, we also have this Auto mode problem if the boat is in extremely strong current |
It is possible for a boat to have a very low GPS speed but be healthy (not stuck) as it fights a strong current. This commit removes the "stuck" check if the type is a boat.