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/**
* @file launchDetection.cpp
* Auto Detection for different launch methods (e.g. catapult)
*
* Authors and acknowledgements in header.
*/
#include "LaunchDetector.h"
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
LaunchDetector::LaunchDetector() :
launchdetection_on(NULL, "LAUN_ALL_ON", false),
throttlePreTakeoff(NULL, "LAUN_THR_PRE", false)
{
/* init all detectors */
launchMethods[0] = new CatapultLaunchMethod();
/* update all parameters of all detectors */
updateParams();
}
LaunchDetector::~LaunchDetector()
{
}
void LaunchDetector::update(float accel_x)
{
if (launchdetection_on.get() == 1) {
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
launchMethods[i]->update(accel_x);
}
}
}
bool LaunchDetector::getLaunchDetected()
{
if (launchdetection_on.get() == 1) {
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
if(launchMethods[i]->getLaunchDetected()) {
return true;
}
}
}
return false;
}
void LaunchDetector::updateParams() {
launchdetection_on.update();
throttlePreTakeoff.update();
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
launchMethods[i]->updateParams();
}
}