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Maritime-Robotics-Student-Society / sailing-robot

Southampton sailing robot
http://www.sotonsailrobot.org
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Exclude manual control and land preparation from MarkSuccess() #252

Open tsaoyu opened 6 years ago

tsaoyu commented 6 years ago

In our first 17:58:40 07June 2018 and second run 18:34:40 07June 2018 the boat keeps jibe because most attempts on tack failed when it was not in autonomous mode. I assume jibe is always picked due to all tack fails when we either in manual control or doing preparation on the land.

The issue can be partially addressed by relaunch in the middle of the ocean.

It would be nice to exclude those attempts by reading the state from /remote_control

Nanoseb commented 6 years ago

Oh yes, I didn't think about that, that's indeed needed

Nanoseb commented 6 years ago

Do you think resetting the history when ever we switch from remote control to autonomous is a good idea?

tsaoyu commented 6 years ago

I would suggest down/up/down1 combination in 1 second as a signal to reset the history. The advantage is that a short take over wouldn't completely wipe out the history.

1 up: AUTO or 0 down: MANUAL or 1