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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 launchDetection.cpp
* Auto Detection for different launch methods (e.g. catapult)
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "LaunchDetector.h"
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
namespace launchdetection
{
LaunchDetector::LaunchDetector() :
SuperBlock(NULL, "LAUN"),
launchdetection_on(this, "ALL_ON"),
throttlePreTakeoff(this, "THR_PRE")
{
/* init all detectors */
launchMethods[0] = new CatapultLaunchMethod(this);
/* update all parameters of all detectors */
updateParams();
}
LaunchDetector::~LaunchDetector()
{
}
void LaunchDetector::reset()
{
/* Reset all detectors */
launchMethods[0]->reset();
}
void LaunchDetector::update(float accel_x)
{
if (launchdetection_on.get() == 1) {
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
launchMethods[i]->update(accel_x);
}
}
}
bool LaunchDetector::getLaunchDetected()
{
if (launchdetection_on.get() == 1) {
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
if(launchMethods[i]->getLaunchDetected()) {
return true;
}
}
}
return false;
}
}
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