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/****************************************************************************
*
* 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.cpp
* Catapult Launch detection
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*
*/
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
namespace launchdetection
{
CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
SuperBlock(parent, "CAT"),
last_timestamp(hrt_absolute_time()),
integrator(0.0f),
state(LAUNCHDETECTION_RES_NONE),
thresholdAccel(this, "A"),
thresholdTime(this, "T"),
motorDelay(this, "MDEL")
{
}
CatapultLaunchMethod::~CatapultLaunchMethod() {
}
void CatapultLaunchMethod::update(float accel_x)
{
float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
last_timestamp = hrt_absolute_time();
switch (state) {
case LAUNCHDETECTION_RES_NONE:
/* Detect a acceleration that is longer and stronger as the minimum given by the params */
if (accel_x > thresholdAccel.get()) {
integrator += dt;
if (integrator > thresholdTime.get()) {
if (motorDelay.get() > 0.0f) {
state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
warnx("Launch detected: state: enablecontrol, waiting %.2fs until using full"
" throttle", (double)motorDelay.get());
} else {
/* No motor delay set: go directly to enablemotors state */
state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
warnx("Launch detected: state: enablemotors (delay not activated)");
}
}
} else {
/* reset */
reset();
}
break;
case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL:
/* Vehicle is currently controlling attitude but not with full throttle. Waiting undtil delay is
* over to allow full throttle */
motorDelayCounter += dt;
if (motorDelayCounter > motorDelay.get()) {
warnx("Launch detected: state enablemotors");
state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
}
break;
default:
break;
}
}
LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const
{
return state;
}
void CatapultLaunchMethod::reset()
{
integrator = 0.0f;
motorDelayCounter = 0.0f;
state = LAUNCHDETECTION_RES_NONE;
}
}
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