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/**
 * @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_ */