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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.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);
LaunchDetectionResult getLaunchDetected() const;
void reset();
float getPitchMax(float pitchMaxDefault);
private:
hrt_abstime last_timestamp;
float integrator;
float motorDelayCounter;
LaunchDetectionResult state;
control::BlockParamFloat thresholdAccel;
control::BlockParamFloat thresholdTime;
control::BlockParamFloat motorDelay;
control::BlockParamFloat pitchMaxPreThrottle; /**< Upper pitch limit before throttle is turned on.
Can be used to make sure that the AC does not climb
too much while attached to a bungee */
};
#endif /* CATAPULTLAUNCHMETHOD_H_ */
}
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