turn_counter.cpp

// Code by Rustom Jehangir: [email protected]

#include "Sub.h"

// Count total vehicle turns to avoid tangling tether
void Sub::update_turn_counter()
{
    // Determine state
    // 0: 0-90 deg, 1: 90-180 deg, 2: -180--90 deg, 3: -90--0 deg
    uint8_t turn_state;
    if (ahrs.get_yaw_rad() >= 0.0f && ahrs.get_yaw_rad() < radians(90)) {
        turn_state = 0;
    } else if (ahrs.get_yaw_rad() >= radians(90)) {
        turn_state = 1;
    } else if (ahrs.get_yaw_rad() < -radians(90)) {
        turn_state = 2;
    } else {
        turn_state = 3;
    }

    // If yaw went from negative to positive (right turn)
    if (turn_state == (last_turn_state + 1) % 4) {
        quarter_turn_count++;
    } else if (turn_state == (uint8_t)(last_turn_state - 1) % 4) {
        quarter_turn_count--;
    }
    last_turn_state = turn_state;
}