CatapultLaunchMethod.h
2.99 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
/****************************************************************************
*
* 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 <px4_platform_common/module_params.h>
namespace launchdetection
{
class CatapultLaunchMethod : public LaunchMethod, public ModuleParams
{
public:
CatapultLaunchMethod(ModuleParams *parent);
~CatapultLaunchMethod() override = default;
void update(const float dt, float accel_x) override;
LaunchDetectionResult getLaunchDetected() const override;
void reset() override;
float getPitchMax(float pitchMaxDefault) override;
private:
float _integrator{0.0f};
float _motorDelayCounter{0.0f};
LaunchDetectionResult state{LAUNCHDETECTION_RES_NONE};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::LAUN_CAT_A>) _param_laun_cat_a,
(ParamFloat<px4::params::LAUN_CAT_T>) _param_laun_cat_t,
(ParamFloat<px4::params::LAUN_CAT_MDEL>) _param_laun_cat_mdel,
(ParamFloat<px4::params::LAUN_CAT_PMAX>) _param_laun_cat_pmax /**< 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_ */
} // namespace launchdetection