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/****************************************************************************
*
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation4 and/or other materials provided with the
* distribution.
* 3. Neither the name ECL nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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*
****************************************************************************/
/**
* @file LaunchDetector.h
* Auto Detection for different launch methods (e.g. catapult)
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef LAUNCHDETECTOR_H
#define LAUNCHDETECTOR_H
#include <stdbool.h>
#include <stdint.h>
#include "LaunchMethod.h"
#include <controllib/block/BlockParam.hpp>
class __EXPORT LaunchDetector
{
public:
LaunchDetector();
~LaunchDetector();
void update(float accel_x);
bool getLaunchDetected();
void updateParams();
bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
// virtual bool getLaunchDetected();
protected:
private:
LaunchMethod* launchMethods[1];
control::BlockParamInt launchdetection_on;
control::BlockParamFloat throttlePreTakeoff;
};
#endif // LAUNCHDETECTOR_H
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