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dotbot/controller: ignore positions that are too close from the last one #213

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Merged
aabadie merged 1 commit into from
Feb 25, 2026
Merged

dotbot/controller: ignore positions that are too close from the last one #213

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21 changes: 18 additions & 3 deletions dotbot/controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -342,9 +342,24 @@ def handle_received_frame(
)
if new_position.x != 0xFFFFFFFF and new_position.y != 0xFFFFFFFF:
dotbot.lh2_position = new_position
dotbot.position_history.append(new_position)
if len(dotbot.position_history) > MAX_POSITION_HISTORY_SIZE:
dotbot.position_history.pop(0)
if (
dotbot.position_history
and lh2_distance(dotbot.position_history[-1], new_position)
< LH2_POSITION_DISTANCE_THRESHOLD
):
# If the new position is too close from the last one, we consider it as noise and we don't add it to the position history
logger.debug(
"Discarding LH2 position update because it's too close from the last one",
last_position=dotbot.position_history[-1].model_dump(),
new_position=new_position.model_dump(),
distance=lh2_distance(
dotbot.position_history[-1], new_position
),
)
else:
dotbot.position_history.append(new_position)
if len(dotbot.position_history) > MAX_POSITION_HISTORY_SIZE:
dotbot.position_history.pop(0)
need_update = True

if dotbot.battery != frame.packet.payload.battery / 1000.0:
Expand Down