launchdetector: return state of detection

The launchdetector now has a intermediate state (controlsenabled) which
is meant to be interpreted by the controller as: "perform attitude
control but do not yet power up the motor". This can be used in the
floating phase during a bungee launch for example.

1 files changed, 6 insertions, 7 deletions

diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
index a64d482f6..d918c3a76 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.h
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -57,20 +57,19 @@ public:
 	~CatapultLaunchMethod();
 
 	void update(float accel_x);
-	bool getLaunchDetected();
+	LaunchDetectionResult getLaunchDetected() const;
 	void reset();
 
 private:
 	hrt_abstime last_timestamp;
 	float integrator;
-	float delayCounter;
+	float motorDelayCounter;
 
-	bool launchDetected;
-	bool delayPassed;
+	LaunchDetectionResult state;
 
-	control::BlockParamFloat threshold_accel;
-	control::BlockParamFloat threshold_time;
-	control::BlockParamFloat delay;
+	control::BlockParamFloat thresholdAccel;
+	control::BlockParamFloat thresholdTime;
+	control::BlockParamFloat motorDelay;
 
 };