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/**
 * @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();
}