Merge branch 'master' of github.com:PX4/Firmware into st24

8 files changed, 161 insertions, 31 deletions

diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index d27bf776f..023bd71bf 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -238,7 +238,7 @@ void TECS::_update_height_demand(float demand, float state)
 	_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
 	_hgt_dem_adj_last = _hgt_dem_adj;
 
-	_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p;
+	_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
 	// Limit height rate of change
 	if (_hgt_rate_dem > _maxClimbRate) {
 		_hgt_rate_dem = _maxClimbRate;
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 36ae4ecaf..8ac31de6f 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -47,6 +47,7 @@ public:
 		_rollComp(0.0f),
 		_spdWeight(0.5f),
 		_heightrate_p(0.0f),
+		_heightrate_ff(0.0f),
 		_speedrate_p(0.0f),
 		_throttle_dem(0.0f),
 		_pitch_dem(0.0f),
@@ -220,6 +221,10 @@ public:
 		_heightrate_p = heightrate_p;
 	}
 
+	void set_heightrate_ff(float heightrate_ff) {
+		_heightrate_ff = heightrate_ff;
+	}
+
 	void set_speedrate_p(float speedrate_p) {
 		_speedrate_p = speedrate_p;
 	}
@@ -256,6 +261,7 @@ private:
 	float _rollComp;
 	float _spdWeight;
 	float _heightrate_p;
+	float _heightrate_ff;
 	float _speedrate_p;
 
 	// throttle demand in the range from 0.0 to 1.0
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index 9d479832f..2ea1c414b 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -49,9 +49,11 @@ CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
 	SuperBlock(parent, "CAT"),
 	last_timestamp(hrt_absolute_time()),
 	integrator(0.0f),
-	launchDetected(false),
-	threshold_accel(this, "A"),
-	threshold_time(this, "T")
+	state(LAUNCHDETECTION_RES_NONE),
+	thresholdAccel(this, "A"),
+	thresholdTime(this, "T"),
+	motorDelay(this, "MDEL"),
+	pitchMaxPreThrottle(this, "PMAX")
 {
 
 }
@@ -65,34 +67,66 @@ void CatapultLaunchMethod::update(float accel_x)
 	float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
 	last_timestamp = hrt_absolute_time();
 
-	if (accel_x > threshold_accel.get()) {
-		integrator += dt;
-//		warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
-//				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
-		if (integrator > threshold_time.get()) {
-			launchDetected = true;
+	switch (state) {
+	case LAUNCHDETECTION_RES_NONE:
+		/* Detect a acceleration that is longer and stronger as the minimum given by the params */
+		if (accel_x > thresholdAccel.get()) {
+			integrator += dt;
+			if (integrator > thresholdTime.get()) {
+				if (motorDelay.get() > 0.0f) {
+					state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
+					warnx("Launch detected: state: enablecontrol, waiting %.2fs until using full"
+							" throttle", (double)motorDelay.get());
+				} else {
+					/* No motor delay set: go directly to enablemotors state */
+					state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
+					warnx("Launch detected: state: enablemotors (delay not activated)");
+				}
+			}
+		} else {
+			/* reset */
+			reset();
 		}
+		break;
+
+	case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL:
+		/* Vehicle is currently controlling attitude but not with full throttle. Waiting undtil delay is
+		 * over to allow full throttle */
+		motorDelayCounter += dt;
+		if (motorDelayCounter > motorDelay.get()) {
+			warnx("Launch detected: state enablemotors");
+			state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
+		}
+		break;
+
+	default:
+		break;
 
-	} else {
-//		warnx("integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
-//				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
-		/* reset integrator */
-		integrator = 0.0f;
-		launchDetected = false;
 	}
 
 }
 
-bool CatapultLaunchMethod::getLaunchDetected()
+LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const
 {
-	return launchDetected;
+	return state;
 }
 
 
 void CatapultLaunchMethod::reset()
 {
 	integrator = 0.0f;
-	launchDetected = false;
+	motorDelayCounter = 0.0f;
+	state = LAUNCHDETECTION_RES_NONE;
+}
+
+float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault) {
+	/* If motor is turned on do not impose the extra limit on maximum pitch */
+	if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
+		return pitchMaxDefault;
+	} else {
+		return pitchMaxPreThrottle.get();
+	}
+
 }
 
 }
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
index 23757f6f3..321dfb1de 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.h
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -57,16 +57,23 @@ public:
 	~CatapultLaunchMethod();
 
 	void update(float accel_x);
-	bool getLaunchDetected();
+	LaunchDetectionResult getLaunchDetected() const;
 	void reset();
+	float getPitchMax(float pitchMaxDefault);
 
 private:
 	hrt_abstime last_timestamp;
 	float integrator;
-	bool launchDetected;
+	float motorDelayCounter;
 
-	control::BlockParamFloat threshold_accel;
-	control::BlockParamFloat threshold_time;
+	LaunchDetectionResult state;
+
+	control::BlockParamFloat thresholdAccel;
+	control::BlockParamFloat thresholdTime;
+	control::BlockParamFloat motorDelay;
+	control::BlockParamFloat pitchMaxPreThrottle; /**< Upper pitch limit before throttle is turned on.
+						       Can be used to make sure that the AC does not climb
+						       too much while attached to a bungee */
 
 };
 
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp
index 3bf47bbb0..52f5c3257 100644
--- a/src/lib/launchdetection/LaunchDetector.cpp
+++ b/src/lib/launchdetection/LaunchDetector.cpp
@@ -46,6 +46,7 @@ namespace launchdetection
 
 LaunchDetector::LaunchDetector() :
 	SuperBlock(NULL, "LAUN"),
+	activeLaunchDetectionMethodIndex(-1),
 	launchdetection_on(this, "ALL_ON"),
 	throttlePreTakeoff(this, "THR_PRE")
 {
@@ -65,7 +66,14 @@ LaunchDetector::~LaunchDetector()
 void LaunchDetector::reset()
 {
 	/* Reset all detectors */
-	launchMethods[0]->reset();
+	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)
@@ -77,17 +85,44 @@ void LaunchDetector::update(float accel_x)
 	}
 }
 
-bool LaunchDetector::getLaunchDetected()
+LaunchDetectionResult LaunchDetector::getLaunchDetected()
 {
 	if (launchdetection_on.get() == 1) {
-		for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
-			if(launchMethods[i]->getLaunchDetected()) {
-				return true;
+		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 false;
+	return LAUNCHDETECTION_RES_NONE;
 }
 
+float LaunchDetector::getPitchMax(float pitchMaxDefault) {
+	if (!launchdetection_on.get()) {
+		return pitchMaxDefault;
+	}
+
+	/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
+	 * otherwise use the default limit */
+	if (activeLaunchDetectionMethodIndex < 0) {
+		if (sizeof(launchMethods)/sizeof(LaunchMethod) > 1) {
+			return pitchMaxDefault;
+		} else {
+			return launchMethods[0]->getPitchMax(pitchMaxDefault);
+		}
+	} else {
+		return launchMethods[activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
+	}
+
+}
+
+
 }
diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h
index 1a214b66e..4215b49d2 100644
--- a/src/lib/launchdetection/LaunchDetector.h
+++ b/src/lib/launchdetection/LaunchDetector.h
@@ -59,14 +59,23 @@ public:
 	void reset();
 
 	void update(float accel_x);
-	bool getLaunchDetected();
+	LaunchDetectionResult getLaunchDetected();
 	bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
 
 	float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
 
+	/* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
+	float getPitchMax(float pitchMaxDefault);
+
 //	virtual bool getLaunchDetected();
 protected:
 private:
+	int activeLaunchDetectionMethodIndex; /**< holds a index to the launchMethod in the array launchMethods
+					       which detected a Launch. If no launchMethod has detected a launch yet the
+					       value is -1. Once one launchMetthod has detected a launch only this
+					       method is checked for further adavancing in the state machine (e.g. when
+					       to power up the motors) */
+
 	LaunchMethod* launchMethods[1];
 	control::BlockParamInt launchdetection_on;
 	control::BlockParamFloat throttlePreTakeoff;
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h
index e04467f6a..8b5220cb3 100644
--- a/src/lib/launchdetection/LaunchMethod.h
+++ b/src/lib/launchdetection/LaunchMethod.h
@@ -44,13 +44,27 @@
 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;
 
+	/* Returns a upper pitch limit if required, otherwise returns pitchMaxDefault */
+	virtual float getPitchMax(float pitchMaxDefault) = 0;
+
 protected:
 private:
 };
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index 8df8c696c..e3aa7ab2d 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -78,6 +78,31 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
 PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
 
 /**
+ * Motor delay
+ *
+ * Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
+ * Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate
+ *
+ * @unit seconds
+ * @min 0
+ * @group Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);
+
+/**
+ * Maximum pitch before the throttle is powered up (during motor delay phase)
+ *
+ * This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
+ * This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
+ *
+ * @unit deg
+ * @min 0
+ * @max 45
+ * @group Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_PMAX, 30.0f);
+
+/**
  * Throttle setting while detecting launch.
  *
  * The throttle is set to this value while the system is waiting for the take-off.