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/**
* @file launchDetection.cpp
* Auto Detection for different launch methods (e.g. catapult)
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "LaunchDetector.h"
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
namespace launchdetection
{
LaunchDetector::LaunchDetector() :
SuperBlock(NULL, "LAUN"),
activeLaunchDetectionMethodIndex(-1),
launchdetection_on(this, "ALL_ON"),
throttlePreTakeoff(this, "THR_PRE")
{
/* init all detectors */
launchMethods[0] = new CatapultLaunchMethod(this);
/* update all parameters of all detectors */
updateParams();
}
LaunchDetector::~LaunchDetector()
{
}
void LaunchDetector::reset()
{
/* Reset all detectors */
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
launchMethods[i]->reset();
}
/* Reset active launchdetector */
activeLaunchDetectionMethodIndex = -1;
}
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);
}
}
}
LaunchDetectionResult LaunchDetector::getLaunchDetected()
{
if (launchdetection_on.get() == 1) {
if (activeLaunchDetectionMethodIndex < 0) {
/* None of the active launchmethods has detected a launch, check all launchmethods */
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
if(launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
warnx("selecting launchmethod %d", i);
activeLaunchDetectionMethodIndex = i; // from now on only check this method
return launchMethods[i]->getLaunchDetected();
}
}
} else {
return launchMethods[activeLaunchDetectionMethodIndex]->getLaunchDetected();
}
}
return LAUNCHDETECTION_RES_NONE;
}
}