From daf16184202b02119aa1ac83cb82cf85979d43f9 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 8 Sep 2014 12:42:42 +0200 Subject: additional upper pitch limit during launch The pitch limit can be used by the laucnhdetector to limit pitch during critical phases of a launch. For example this can be used to limit pitch while attached to a bungee differently from the standard pitch limit. --- src/lib/launchdetection/CatapultLaunchMethod.cpp | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) (limited to 'src/lib/launchdetection/CatapultLaunchMethod.cpp') diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp index 65ae461db..2ea1c414b 100644 --- a/src/lib/launchdetection/CatapultLaunchMethod.cpp +++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp @@ -52,7 +52,8 @@ CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) : state(LAUNCHDETECTION_RES_NONE), thresholdAccel(this, "A"), thresholdTime(this, "T"), - motorDelay(this, "MDEL") + motorDelay(this, "MDEL"), + pitchMaxPreThrottle(this, "PMAX") { } @@ -118,4 +119,14 @@ void CatapultLaunchMethod::reset() 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(); + } + +} + } -- cgit v1.2.3