Merge branch 'navigator_new' into navigator_new_vector

9 files changed, 498 insertions, 35 deletions

diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index f64bfb41a..08fe2b696 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -503,27 +503,3 @@ __EXPORT float _wrap_360(float bearing)
 
 	return bearing;
 }
-
-__EXPORT bool inside_geofence(const struct vehicle_global_position_s *vehicle, const struct fence_s *fence)
-{
-
-	/* Adaptation of algorithm originally presented as
-	 * PNPOLY - Point Inclusion in Polygon Test
-	 * W. Randolph Franklin (WRF) */
-
-	unsigned int i, j, vertices = fence->count;
-	bool c = false;
-	double lat = vehicle->lat / 1e7d;
-	double lon = vehicle->lon / 1e7d;
-
-	// skip vertex 0 (return point)
-	for (i = 0, j = vertices - 1; i < vertices; j = i++)
-		if (((fence->vertices[i].lon) >= lon != (fence->vertices[j].lon >= lon)) &&
-		    (lat <= (fence->vertices[j].lat - fence->vertices[i].lat) * (lon - fence->vertices[i].lon) /
-		     (fence->vertices[j].lon - fence->vertices[i].lon) + fence->vertices[i].lat))
-			c = !c;
-	return c;
-}
-
-
-
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 5f92e14cf..5f4bce698 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -143,15 +143,4 @@ __EXPORT float _wrap_360(float bearing);
 __EXPORT float _wrap_pi(float bearing);
 __EXPORT float _wrap_2pi(float bearing);
 
-/**
- * Return whether craft is inside geofence.
- *
- * Calculate whether point is inside arbitrary polygon
- * @param craft pointer craft coordinates
- * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
- * @return true: craft is inside fence, false:craft is outside fence
- */
-__EXPORT bool inside_geofence(const struct vehicle_global_position_s *craft, const struct fence_s *fence);
-
-
 __END_DECLS
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
new file mode 100644
index 000000000..d5c759b17
--- /dev/null
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   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
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file CatapultLaunchMethod.cpp
+ * Catpult Launch detection
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "CatapultLaunchMethod.h"
+#include <systemlib/err.h>
+
+CatapultLaunchMethod::CatapultLaunchMethod() :
+	last_timestamp(0),
+	integrator(0.0f),
+	launchDetected(false),
+	threshold_accel(NULL, "LAUN_CAT_A", false),
+	threshold_time(NULL, "LAUN_CAT_T", false)
+{
+
+}
+
+CatapultLaunchMethod::~CatapultLaunchMethod() {
+
+}
+
+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 += accel_x * 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_accel.get() * threshold_time.get()) {
+			launchDetected = true;
+		}
+
+	} 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()
+{
+	return launchDetected;
+}
+
+void CatapultLaunchMethod::updateParams()
+{
+	threshold_accel.update();
+	threshold_time.update();
+}
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
new file mode 100644
index 000000000..e943f11e9
--- /dev/null
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   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
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file CatapultLaunchMethod.h
+ * Catpult Launch detection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef CATAPULTLAUNCHMETHOD_H_
+#define CATAPULTLAUNCHMETHOD_H_
+
+#include "LaunchMethod.h"
+
+#include <drivers/drv_hrt.h>
+#include <controllib/block/BlockParam.hpp>
+
+class CatapultLaunchMethod : public LaunchMethod
+{
+public:
+	CatapultLaunchMethod();
+	~CatapultLaunchMethod();
+
+	void update(float accel_x);
+	bool getLaunchDetected();
+	void updateParams();
+
+private:
+	hrt_abstime last_timestamp;
+//	float threshold_accel_raw;
+//	float threshold_time;
+	float integrator;
+	bool launchDetected;
+
+	control::BlockParamFloat threshold_accel;
+	control::BlockParamFloat threshold_time;
+
+};
+
+#endif /* CATAPULTLAUNCHMETHOD_H_ */
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp
new file mode 100644
index 000000000..67b32ad82
--- /dev/null
+++ b/src/lib/launchdetection/LaunchDetector.cpp
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   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 documentation 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
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file launchDetection.cpp
+ * Auto Detection for different launch methods (e.g. catapult)
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "LaunchDetector.h"
+#include "CatapultLaunchMethod.h"
+#include <systemlib/err.h>
+
+LaunchDetector::LaunchDetector() :
+	launchdetection_on(NULL, "LAUN_ALL_ON", false),
+	throttlePreTakeoff(NULL, "LAUN_THR_PRE", false)
+{
+	/* init all detectors */
+	launchMethods[0] = new CatapultLaunchMethod();
+
+
+	/* update all parameters of all detectors */
+	updateParams();
+}
+
+LaunchDetector::~LaunchDetector()
+{
+
+}
+
+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);
+		}
+	}
+}
+
+bool LaunchDetector::getLaunchDetected()
+{
+	if (launchdetection_on.get() == 1) {
+		for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+			if(launchMethods[i]->getLaunchDetected()) {
+				return true;
+			}
+		}
+	}
+
+	return false;
+}
+
+void LaunchDetector::updateParams() {
+
+	warnx(" LaunchDetector::updateParams()");
+	launchdetection_on.update();
+	throttlePreTakeoff.update();
+
+	for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+		launchMethods[i]->updateParams();
+		warnx("updating component %d", i);
+	}
+
+	warnx(" LaunchDetector::updateParams() ended");
+}
diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h
new file mode 100644
index 000000000..7c2ff826c
--- /dev/null
+++ b/src/lib/launchdetection/LaunchDetector.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   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
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @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
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h
new file mode 100644
index 000000000..bfb5f8cb4
--- /dev/null
+++ b/src/lib/launchdetection/LaunchMethod.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   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
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file LaunchMethod.h
+ * Base class for different launch methods
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef LAUNCHMETHOD_H_
+#define LAUNCHMETHOD_H_
+
+class LaunchMethod
+{
+public:
+	virtual void update(float accel_x) = 0;
+	virtual bool getLaunchDetected() = 0;
+	virtual void updateParams() = 0;
+protected:
+private:
+};
+
+#endif /* LAUNCHMETHOD_H_ */
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
new file mode 100644
index 000000000..63a8981aa
--- /dev/null
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 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
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file launchdetection_params.c
+ *
+ * Parameters for launchdetection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * Launch detection parameters, accessible via MAVLink
+ *
+ */
+
+/* Catapult Launch detection */
+
+// @DisplayName		Switch to enable launchdetection
+// @Description		if set to 1 launchdetection is enabled
+// @Range		0 or 1
+PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
+
+// @DisplayName		Catapult Accelerometer Threshold
+// @Description		LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
+// @Range		> 0
+PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
+
+// @DisplayName		Catapult Time Threshold
+// @Description		LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
+// @Range		> 0, in seconds
+PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
+
+// @DisplayName		Throttle setting while detecting the launch
+// @Description		The throttle is set to this value while the system is waiting for the takeoff
+// @Range		0 to 1
+PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f);
diff --git a/src/lib/launchdetection/module.mk b/src/lib/launchdetection/module.mk
new file mode 100644
index 000000000..13648b74c
--- /dev/null
+++ b/src/lib/launchdetection/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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 documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 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
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Launchdetection Library
+#
+
+SRCS		 = 	LaunchDetector.cpp \
+			CatapultLaunchMethod.cpp \
+			launchdetection_params.c