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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-03 00:29:33 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-03 00:29:33 +0200 |
| commit | 6188678f7755afc4ef6dc4299f1b4b5b6e1b29f2 (patch) | |
| tree | d5f3dc5eeccea42298081fe7a366262677ed9a09 /src/lib/launchdetection/LaunchMethod.h | |
| parent | 2780dc39ce5d47f2d9dfa921062100a1dc86c2be (diff) | |
| parent | c591444c1e2e4124d28a03653c0ccdbcd305c1c2 (diff) | |
| download | px4-firmware-6188678f7755afc4ef6dc4299f1b4b5b6e1b29f2.tar.gz px4-firmware-6188678f7755afc4ef6dc4299f1b4b5b6e1b29f2.tar.bz2 px4-firmware-6188678f7755afc4ef6dc4299f1b4b5b6e1b29f2.zip | |
Merge pull request #1303 from PX4/launchdetectionstates
Launchdetection improvements
Diffstat (limited to 'src/lib/launchdetection/LaunchMethod.h')
| -rw-r--r-- | src/lib/launchdetection/LaunchMethod.h | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h index e04467f6a..d2f091cea 100644 --- a/src/lib/launchdetection/LaunchMethod.h +++ b/src/lib/launchdetection/LaunchMethod.h @@ -44,11 +44,22 @@ namespace launchdetection { +enum LaunchDetectionResult { + LAUNCHDETECTION_RES_NONE = 0, /**< No launch has been detected */ + LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL = 1, /**< Launch has been detected, the controller should + control the attitude. However any motors should not throttle + up and still be set to 'throttlePreTakeoff'. + For instance this is used to have a delay for the motor + when launching a fixed wing aircraft from a bungee */ + LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS = 2 /**< Launch has been detected, teh controller should control + attitude and also throttle up the motors. */ +}; + class LaunchMethod { public: virtual void update(float accel_x) = 0; - virtual bool getLaunchDetected() = 0; + virtual LaunchDetectionResult getLaunchDetected() const = 0; virtual void reset() = 0; protected: |