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/**
* @file CatapultLaunchMethod.cpp
* Catapult Launch detection
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*
*/
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
namespace launchdetection
{
CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
SuperBlock(parent, "CAT"),
last_timestamp(hrt_absolute_time()),
integrator(0.0f),
state(LAUNCHDETECTION_RES_NONE),
thresholdAccel(this, "A"),
thresholdTime(this, "T"),
motorDelay(this, "MDEL"),
pitchMaxPreThrottle(this, "PMAX")
{
}
CatapultLaunchMethod::~CatapultLaunchMethod() {
}
void CatapultLaunchMethod::update(float accel_x)
{
float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
last_timestamp = hrt_absolute_time();
switch (state) {
case LAUNCHDETECTION_RES_NONE:
/* Detect a acceleration that is longer and stronger as the minimum given by the params */
if (accel_x > thresholdAccel.get()) {
integrator += dt;
if (integrator > thresholdTime.get()) {
if (motorDelay.get() > 0.0f) {
state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
warnx("Launch detected: state: enablecontrol, waiting %.2fs until using full"
" throttle", (double)motorDelay.get());
} else {
/* No motor delay set: go directly to enablemotors state */
state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
warnx("Launch detected: state: enablemotors (delay not activated)");
}
}
} else {
/* reset */
reset();
}
break;
case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL:
/* Vehicle is currently controlling attitude but not with full throttle. Waiting undtil delay is
* over to allow full throttle */
motorDelayCounter += dt;
if (motorDelayCounter > motorDelay.get()) {
warnx("Launch detected: state enablemotors");
state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
}
break;
default:
break;
}
}
LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const
{
return state;
}
void CatapultLaunchMethod::reset()
{
integrator = 0.0f;
motorDelayCounter = 0.0f;
state = LAUNCHDETECTION_RES_NONE;
}
float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault) {
/* If motor is turned on do not impose the extra limit on maximum pitch */
if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
return pitchMaxDefault;
} else {
return pitchMaxPreThrottle.get();
}
}
}