Merge pull request #191 from cwruRobotics/float-depth-offset

Float depth offset
CWRUbotix · Jun 15, 2024 · cd41184 · cd41184
2 parents 1316f36 + 3b0abc4
commit cd41184
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/src/surface/transceiver/test/test_parser.py b/src/surface/transceiver/test/test_parser.py
@@ -40,7 +40,7 @@ def test_message_parser(packet_handler: SerialReaderPacketHandler) -> None:
         profile_number=1,
         profile_half=1,
         time_data=[5.231683254241943, 5.247383117675781, 5.263083457946777, 5.278783321380615, 5.294483184814453, 5.310183525085449, 5.325883388519287, 5.341583251953125, 5.357283115386963, 5.372983455657959, 5.388683319091797, 5.404383182525635, 5.420100212097168, 5.435766696929932, 5.4514665603637695, 5.467166900634766, 5.4828667640686035, 5.498566627502441, 5.514266490936279, 5.529966831207275, 5.545666694641113, 5.561366558074951, 5.577066898345947, 5.592766761779785, 5.608466625213623, 5.624216556549072, 5.639916896820068, 5.655616760253906, 5.671316623687744, 5.687016487121582, 5.702716827392578],  # noqa 501
-        depth_data=[-0.2521384060382843, -0.25173041224479675, -0.24744650721549988, -0.2212330847978592, -0.1738041341304779, -0.11107552796602249, -0.029477344825863838, 0.08017022162675858, 0.21592919528484344, 0.3771876096725464, 0.39381325244903564, 0.40748095512390137, 0.4087049067020416, 0.41013288497924805, 0.41074487566947937, 0.4113568663597107, 0.41166284680366516, 0.411968857049942, 0.41166284680366516, 0.41156086325645447, 0.4120708405971527, 0.4113568663597107, 0.41084685921669006, 0.41074487566947937, 0.40941891074180603, 0.4096229076385498, 0.41013288497924805, 0.40921491384506226, 0.4097248911857605, 0.4104388654232025, 0.41094887256622314]  # noqa 501
+        depth_data=[0.3828616142272949, 0.38326960802078247, 0.38755351305007935, 0.41376692056655884, 0.46119585633277893, 0.5239244699478149, 0.605522632598877, 0.7151702046394348, 0.8509292006492615, 1.0121876001358032, 1.0288132429122925, 1.0424809455871582, 1.043704867362976, 1.0451328754425049, 1.0457448959350586, 1.0463569164276123, 1.0466628074645996, 1.0469688177108765, 1.0466628074645996, 1.0465608835220337, 1.047070860862732, 1.0463569164276123, 1.0458468198776245, 1.0457448959350586, 1.0444189310073853, 1.0446228981018066, 1.0451328754425049, 1.0442149639129639, 1.044724941253662, 1.0454388856887817, 1.04594886302948]  # noqa 501
     )
 
     with pytest.raises(ValueError, match="Packet expected 3 sections, found 2 sections"):

diff --git a/src/surface/transceiver/transceiver/serial_reader.py b/src/surface/transceiver/transceiver/serial_reader.py
@@ -17,8 +17,8 @@
 
 AMBIENT_PRESSURE_DEFAULT = 1013.25  # in (mbar)
 
-# AKA the length of the float in (m)
-FLOAT_CONVERSION_FACTOR = 0.635
+# Distance from the pressure sensor to the bottom of the float (m)
+PRESSURE_SENSOR_VERTICAL_OFFSET = 0.635
 
 AVERAGE_QUEUE_LEN = 5
 
@@ -156,7 +156,10 @@ def message_parser(self, packet: str) -> FloatData:
 
             # Starts out as float
             depth_data_list.append(
-                (float(pressure_reading) - self.surface_pressure) * MBAR_TO_METER_OF_HEAD)
+                (float(pressure_reading) - self.surface_pressure) * MBAR_TO_METER_OF_HEAD
+                + PRESSURE_SENSOR_VERTICAL_OFFSET
+            )
+
         msg.time_data = time_data_list
         msg.depth_data = depth_data_list