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/**
* @file CatapultLaunchMethod.cpp
* Catpult Launch detection
*
* Authors and acknowledgements in header.
*/
#include "CatapultLaunchMethod.h"
CatapultLaunchMethod::CatapultLaunchMethod() :
last_timestamp(0),
integrator(0.0f),
launchDetected(false),
threshold_accel(NULL, "LAUN_CAT_A", false),
threshold_time(NULL, "LAUN_CAT_T", false)
{
}
CatapultLaunchMethod::~CatapultLaunchMethod() {
}
void CatapultLaunchMethod::update(float accel_x)
{
float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
last_timestamp = hrt_absolute_time();
if (accel_x > threshold_accel.get()) {
integrator += accel_x * dt;
if (integrator > threshold_accel.get() * threshold_time.get()) {
launchDetected = true;
}
} else {
/* reset integrator */
integrator = 0.0f;
launchDetected = false;
}
}
bool CatapultLaunchMethod::getLaunchDetected()
{
return launchDetected;
}
void CatapultLaunchMethod::updateParams()
{
threshold_accel.update();
threshold_time.update();
}