diff options
-rw-r--r-- | src/lib/launchdetection/LaunchDetector.cpp | 8 | ||||
-rw-r--r-- | src/lib/launchdetection/LaunchDetector.h | 3 | ||||
-rw-r--r-- | src/lib/launchdetection/launchdetection_params.c | 11 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 |
4 files changed, 17 insertions, 7 deletions
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp index 2545e0a7e..d894d6a6f 100644 --- a/src/lib/launchdetection/LaunchDetector.cpp +++ b/src/lib/launchdetection/LaunchDetector.cpp @@ -43,7 +43,8 @@ #include <systemlib/err.h> LaunchDetector::LaunchDetector() : - launchdetection_on(NULL, "LAUN_ALL_ON", false) + launchdetection_on(NULL, "LAUN_ALL_ON", false), + throttle_min(NULL, "LAUN_THR_MIN", false) { /* init all detectors */ launchMethods[0] = new CatapultLaunchMethod(); @@ -83,10 +84,11 @@ bool LaunchDetector::getLaunchDetected() void LaunchDetector::updateParams() { warnx(" LaunchDetector::updateParams()"); - //launchdetection_on.update(); + launchdetection_on.update(); + throttle_min.update(); for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) { - //launchMethods[i]->updateParams(); + launchMethods[i]->updateParams(); warnx("updating component %d", i); } diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h index 981891143..3b8aa0ced 100644 --- a/src/lib/launchdetection/LaunchDetector.h +++ b/src/lib/launchdetection/LaunchDetector.h @@ -59,11 +59,14 @@ public: void updateParams(); bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); }; + float getMinThrottle() {return throttle_min.get(); } + // virtual bool getLaunchDetected(); protected: private: LaunchMethod* launchMethods[1]; control::BlockParamInt launchdetection_on; + control::BlockParamFloat throttle_min; }; diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c index 536749c88..e07a2b26d 100644 --- a/src/lib/launchdetection/launchdetection_params.c +++ b/src/lib/launchdetection/launchdetection_params.c @@ -33,11 +33,11 @@ ****************************************************************************/ /** - * @file fw_pos_control_l1_params.c + * @file launchdetection_params.c * - * Parameters defined by the L1 position control task + * Parameters for launchdetection * - * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -65,3 +65,8 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f); // @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_MIN, 0.0f); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 3405185e2..826ee0cdb 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1028,7 +1028,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio } } else { - throttle_max = 0.0f; + throttle_max = launchDetector.getMinThrottle(); } } |