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launchdetector: return state of detection

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The launchdetector now has a intermediate state (controlsenabled) which
is meant to be interpreted by the controller as: "perform attitude
control but do not yet power up the motor". This can be used in the
floating phase during a bungee launch for example.
This commit is contained in:
Thomas Gubler
2014-08-23 11:42:53 +02:00
parent 52ffc3bced
commit 5a5617cb59
6 changed files with 91 additions and 48 deletions
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src/lib/launchdetection/launchdetection_params.c
+5 -3
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@@ -78,14 +78,16 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
/**
* Catapult delay
*
* Motor delay
*
* Delay between starting attitude control and powering up the thorttle (giving throttle control to the controller)
* Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate
*
* @unit seconds
* @min 0
* @group Launch detection
*/
PARAM_DEFINE_FLOAT(LAUN_CAT_DELAY, 0.0f);
PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);
/**
* Throttle setting while detecting launch.
*