Bug in CAS

[krisgry]

Hi,
Noticed this when trying to get antigrounding back into CAS:

dune/src/Control/Path/CAS/obstacle.hpp

Lines 491 to 503 in 41dc6bd

	Math::Matrix state_copy(10);
	//state_copy << x_hat(0), x_hat(1), x_hat(2), x_hat(3), x_hat(4), A_, B_, C_, D_, id_;
	state_copy(0) = x_hat(0);
	state_copy(0) = x_hat(1);
	state_copy(0) = x_hat(2);
	state_copy(0) = x_hat(3);
	state_copy(0) = x_hat(4);
	state_copy(0) = A_;
	state_copy(0) = B_;
	state_copy(0) = C_;
	state_copy(0) = D_;
	state_copy(0) = id_;
	updateTrajectory(state_copy, obst_filter_on);

(only state_copy(0) is set)

I take the opportunity to ask a few CAS questions 😄

• why did you remove anti-grounding? I guess you don't need it as much for your open sea missions, but would not hurt to keep it?
• what would it take to re-include it? A lot of the code is still there, but commented out, so perhaps you have a plan?

The reason I'm asking is that we absolutely need anti-grounding in our narrow fjords. Your changes to "our" CAS puts me in maintenance hell when trying to update DUNE from upstream 😅

[krisgry]

also:

dune/src/Control/Path/CAS/Task.cpp

Lines 535 to 538 in 41dc6bd

	if (paramChanged(m_args.D_SAFE))
	m_sb_mpc->setDSafe(m_args.D_SAFE);
	if (paramChanged(m_args.D_SAFE_LAND))
	m_sb_mpc->setDSafe(m_args.D_SAFE_LAND);

(DSafe is set to the value of DSAFE_LAND)

[Bernardo-Gabriel]

Hi @krisgry,

When we imported CAS (late 2023/early 2024), we didn't have the time to test most of the implementation. In early 2025, when we resumed work on our Autonaut class ASV, we decided that we wouldn't use many of CAS features, since most of the implementation had not been tested properly, and that we wouldn't have the time to test and fix most of the issues (because we were in a rush to deploy our ASV).
I agree that commenting the code is not the best decision (from a maintenance perspective, sorry for that), but at the time, it was a sacrifice (mistake) we felt we needed to make.

Regarding the inconsistencies you found:

(only state_copy(0) is set)
(DSafe is set to the value of DSAFE_LAND)

In the current implementation, neither value is used.

Currently, we are only using CAS for simple collision avoidance based on AISInfo. We are planning on bringing anti-grounding, but do not have deadlines for this...

I have thought about moving CAS implementation into a collision avoidance entity, which any path controller could use:

master...feature/cas_as_param_entity

Right now, CAS is a LOS guidance system, without support for course control and for collision avoidance it calculates a heading offset that allows the system to avoid collisions, outputting a desired heading. We are planning to move the collision avoidance to a higher level, outputting a desired path. And we will take this opportunity to reintroduce most of the previous intended implementation, including anti/grouding.

During the next few months we will have some update regarding this ASV class control tasks.

We would really appreciate your thoughts on this.