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Diffstat (limited to 'src/lib/launchdetection/CatapultLaunchMethod.h')
-rw-r--r-- | src/lib/launchdetection/CatapultLaunchMethod.h | 75 |
1 files changed, 75 insertions, 0 deletions
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h new file mode 100644 index 000000000..23757f6f3 --- /dev/null +++ b/src/lib/launchdetection/CatapultLaunchMethod.h @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. 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. + * + ****************************************************************************/ + +/** + * @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/blocks.hpp> +#include <controllib/block/BlockParam.hpp> + +namespace launchdetection +{ + +class CatapultLaunchMethod : public LaunchMethod, public control::SuperBlock +{ +public: + CatapultLaunchMethod(SuperBlock *parent); + ~CatapultLaunchMethod(); + + void update(float accel_x); + bool getLaunchDetected(); + void reset(); + +private: + hrt_abstime last_timestamp; + float integrator; + bool launchDetected; + + control::BlockParamFloat threshold_accel; + control::BlockParamFloat threshold_time; + +}; + +#endif /* CATAPULTLAUNCHMETHOD_H_ */ + +} |