expose confidence cutoff api

dvl-a50/dvl.py

@@ -1,6 +1,7 @@
 """
 Code for integration of Waterlinked DVL A50 with Companion and ArduSub
 """
+
 import json
 import math
 import os
@@ -62,6 +63,7 @@ class DvlDriver(threading.Thread):
     last_temperature_check_time = 0
     temperature_check_interval_s = 30
     temperature_too_hot = 45
+    confidence_cutoff = 0
 
     def __init__(self, orientation=DVL_DOWN) -> None:
         threading.Thread.__init__(self)
@@ -87,6 +89,7 @@ def load_settings(self) -> None:
                 self.origin = data["origin"]
                 self.rangefinder = data["rangefinder"]
                 self.should_send = data["should_send"]
+                self.confidence_cutoff = data.get("confidence_cutoff", 80)
                 logger.debug("Loaded settings: ", data)
         except FileNotFoundError:
             logger.warning("Settings file not found, using default.")
@@ -119,6 +122,7 @@ def ensure_dir(file_path) -> None:
                         "hostname": self.hostname,
                         "rangefinder": self.rangefinder,
                         "should_send": self.should_send,
+                        "confidence_cutoff": self.confidence_cutoff,
                     }
                 )
             )
@@ -135,6 +139,7 @@ def get_status(self) -> dict:
             "origin": self.origin,
             "rangefinder": self.rangefinder,
             "should_send": self.should_send,
+            "confidence_cutoff": self.confidence_cutoff,
         }
 
     @property
@@ -272,6 +277,14 @@ def set_enabled(self, enable: bool) -> bool:
         self.save_settings()
         return True
 
+    def set_confidence_cutoff(self, cutoff: int) -> bool:
+        """
+        Enables/disables the driver
+        """
+        self.confidence_cutoff = max(5, min(100, cutoff))
+        self.save_settings()
+        return True
+
     def set_use_as_rangefinder(self, enable: bool) -> bool:
         """
         Enables/disables DISTANCE_SENSOR messages
@@ -365,7 +378,8 @@ def handle_velocity(self, data: Dict[str, Any]) -> None:
             return
 
         if self.rangefinder and alt > 0.05:
-            self.mav.send_rangefinder(alt, confidence)
+            if confidence >= self.confidence_cutoff:
+                self.mav.send_rangefinder(alt, confidence)
 
         if self.should_send == MessageType.POSITION_DELTA:
             dRoll, dPitch, dYaw = [

dvl-a50/main.py

@@ -35,6 +35,12 @@ def set_enabled(self, enabled: str) -> bool:
             return self.dvl.set_enabled(enabled == "true")
         return False
 
+    def set_cutoff(self, cutoff: int) -> bool:
+        """
+        Enables/Disables the DVL driver
+        """
+        return self.dvl.set_confidence_cutoff(cutoff)
+
     def set_orientation(self, orientation: int) -> bool:
         """
         Sets the DVL mounting orientation:
@@ -79,6 +85,10 @@ def get_status():
     def set_enabled(enable: str):
         return str(api.set_enabled(enable))
 
+    @app.route("/cutoff/<cutoff>")
+    def set_cutoff(cutoff: int):
+        return str(api.set_cutoff(cutoff))
+
     @app.route("/use_as_rangefinder/<enable>")
     def set_use_rangefinder(enable: str):
         return str(api.set_use_as_rangefinder(enable))