LaunchDetector.h
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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 LaunchDetector.h
* Auto Detection for different launch methods (e.g. catapult)
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef LAUNCHDETECTOR_H
#define LAUNCHDETECTOR_H
#include "LaunchMethod.h"
#include <px4_platform_common/module_params.h>
namespace launchdetection
{
class __EXPORT LaunchDetector : public ModuleParams
{
public:
LaunchDetector(ModuleParams *parent);
~LaunchDetector() override;
LaunchDetector(const LaunchDetector &) = delete;
LaunchDetector operator=(const LaunchDetector &) = delete;
void reset();
void update(const float dt, float accel_x);
LaunchDetectionResult getLaunchDetected();
bool launchDetectionEnabled() { return _param_laun_all_on.get(); }
/* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
float getPitchMax(float pitchMaxDefault);
private:
/* holds an index to the launchMethod in the array _launchMethods
* which detected a Launch. If no launchMethod has detected a launch yet the
* value is -1. Once one launchMethod has detected a launch only this
* method is checked for further advancing in the state machine
* (e.g. when to power up the motors)
*/
int _activeLaunchDetectionMethodIndex{-1};
LaunchMethod *_launchMethods[1];
DEFINE_PARAMETERS(
(ParamBool<px4::params::LAUN_ALL_ON>) _param_laun_all_on
)
};
} // namespace launchdetection
#endif // LAUNCHDETECTOR_H