move launchdetection lib to fw_pos_control_l1

src/modules/fw_pos_control_l1/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+add_subdirectory(launchdetection)
+
 px4_add_module(
 	MODULE modules__fw_pos_control_l1
 	MAIN fw_pos_control_l1
@@ -39,8 +42,7 @@ px4_add_module(
 		FixedwingPositionControl.cpp
 		Landingslope.cpp
 	DEPENDS
-		platforms__common
 		git_ecl
 		lib__ecl
+		launchdetection
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -56,12 +56,12 @@
 #include <cfloat>
 
 #include "Landingslope.hpp"
+#include "launchdetection/LaunchDetector.h"
 
 #include <drivers/drv_hrt.h>
 #include <ecl/l1/ecl_l1_pos_controller.h>
 #include <ecl/tecs/tecs.h>
 #include <geo/geo.h>
-#include <launchdetection/LaunchDetector.h>
 #include <mathlib/mathlib.h>
 #include <runway_takeoff/RunwayTakeoff.h>
 #include <systemlib/perf_counter.h>

src/modules/fw_pos_control_l1/launchdetection/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+
+px4_add_library(launchdetection
+	LaunchDetector.cpp
+	CatapultLaunchMethod.cpp
+)

src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp

@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   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.cpp
+ * Catapult Launch detection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ */
+
+#include "CatapultLaunchMethod.h"
+
+namespace launchdetection
+{
+
+CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
+	SuperBlock(parent, "CAT"),
+	thresholdAccel(this, "A"),
+	thresholdTime(this, "T"),
+	motorDelay(this, "MDEL"),
+	pitchMaxPreThrottle(this, "PMAX")
+{
+	last_timestamp = hrt_absolute_time();
+}
+
+void CatapultLaunchMethod::update(float accel_x)
+{
+	float dt = hrt_elapsed_time(&last_timestamp) * 1e-6f;
+	last_timestamp = hrt_absolute_time();
+
+	switch (state) {
+	case LAUNCHDETECTION_RES_NONE:
+
+		/* Detect a acceleration that is longer and stronger as the minimum given by the params */
+		if (accel_x > thresholdAccel.get()) {
+			integrator += dt;
+
+			if (integrator > thresholdTime.get()) {
+				if (motorDelay.get() > 0.0f) {
+					state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
+					PX4_WARN("Launch detected: enablecontrol, waiting %8.4fs until full throttle",
+						 double(motorDelay.get()));
+
+				} else {
+					/* No motor delay set: go directly to enablemotors state */
+					state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
+					PX4_WARN("Launch detected: enablemotors (delay not activated)");
+				}
+			}
+
+		} else {
+			reset();
+		}
+
+		break;
+
+	case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL:
+		/* Vehicle is currently controlling attitude but not with full throttle. Waiting until delay is
+		 * over to allow full throttle */
+		motorDelayCounter += dt;
+
+		if (motorDelayCounter > motorDelay.get()) {
+			PX4_WARN("Launch detected: state enablemotors");
+			state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
+		}
+
+		break;
+
+	default:
+		break;
+
+	}
+}
+
+LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const
+{
+	return state;
+}
+
+void CatapultLaunchMethod::reset()
+{
+	integrator = 0.0f;
+	motorDelayCounter = 0.0f;
+	state = LAUNCHDETECTION_RES_NONE;
+}
+
+float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault)
+{
+	/* If motor is turned on do not impose the extra limit on maximum pitch */
+	if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
+		return pitchMaxDefault;
+
+	} else {
+		return pitchMaxPreThrottle.get();
+	}
+}
+
+} // namespace launchdetection

src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.h

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   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 <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+namespace launchdetection
+{
+
+class CatapultLaunchMethod : public LaunchMethod, public control::SuperBlock
+{
+public:
+	CatapultLaunchMethod(SuperBlock *parent);
+	~CatapultLaunchMethod() override = default;
+
+	void update(float accel_x) override;
+	LaunchDetectionResult getLaunchDetected() const override;
+	void reset() override;
+	float getPitchMax(float pitchMaxDefault) override;
+
+private:
+	hrt_abstime last_timestamp{0};
+	float integrator{0.0f};
+	float motorDelayCounter{0.0f};
+
+	LaunchDetectionResult state{LAUNCHDETECTION_RES_NONE};
+
+	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_ */
+
+} // namespace launchdetection

src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp

@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   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 "CatapultLaunchMethod.h"
+#include "LaunchDetector.h"
+
+namespace launchdetection
+{
+
+LaunchDetector::LaunchDetector() :
+	SuperBlock(nullptr, "LAUN"),
+	launchdetection_on(this, "ALL_ON")
+{
+	/* init all detectors */
+	launchMethods[0] = new CatapultLaunchMethod(this);
+
+	/* update all parameters of all detectors */
+	updateParams();
+}
+
+LaunchDetector::~LaunchDetector()
+{
+	delete launchMethods[0];
+}
+
+void LaunchDetector::reset()
+{
+	/* Reset all detectors */
+	for (const auto launchMethod : launchMethods) {
+		launchMethod->reset();
+	}
+
+	/* Reset active launchdetector */
+	activeLaunchDetectionMethodIndex = -1;
+}
+
+void LaunchDetector::update(float accel_x)
+{
+	if (launchDetectionEnabled()) {
+		for (const auto launchMethod : launchMethods) {
+			launchMethod->update(accel_x);
+		}
+	}
+}
+
+LaunchDetectionResult LaunchDetector::getLaunchDetected()
+{
+	if (launchDetectionEnabled()) {
+		if (activeLaunchDetectionMethodIndex < 0) {
+			/* None of the active launchmethods has detected a launch, check all launchmethods */
+			for (unsigned i = 0; i < (sizeof(launchMethods) / sizeof(launchMethods[0])); i++) {
+				if (launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
+					PX4_WARN("selecting launchmethod %d", i);
+					activeLaunchDetectionMethodIndex = i; // from now on only check this method
+					return launchMethods[i]->getLaunchDetected();
+				}
+			}
+
+		} else {
+			return launchMethods[activeLaunchDetectionMethodIndex]->getLaunchDetected();
+		}
+	}
+
+	return LAUNCHDETECTION_RES_NONE;
+}
+
+float LaunchDetector::getPitchMax(float pitchMaxDefault)
+{
+	if (!launchDetectionEnabled()) {
+		return pitchMaxDefault;
+	}
+
+	/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
+	 * otherwise use the default limit */
+	if (activeLaunchDetectionMethodIndex < 0) {
+		if (sizeof(launchMethods) / sizeof(LaunchMethod *) > 1) {
+			return pitchMaxDefault;
+
+		} else {
+			return launchMethods[0]->getPitchMax(pitchMaxDefault);
+		}
+
+	} else {
+		return launchMethods[activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
+	}
+}
+
+} // namespace launchdetection

src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   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 <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+namespace launchdetection
+{
+
+class __EXPORT LaunchDetector : public control::SuperBlock
+{
+public:
+	LaunchDetector();
+	~LaunchDetector() override;
+
+	LaunchDetector(const LaunchDetector &) = delete;
+	LaunchDetector operator=(const LaunchDetector &) = delete;
+
+	void reset();
+
+	void update(float accel_x);
+	LaunchDetectionResult getLaunchDetected();
+	bool launchDetectionEnabled() { return launchdetection_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];
+
+	control::BlockParamBool launchdetection_on;
+};
+
+} // namespace launchdetection
+
+#endif // LAUNCHDETECTOR_H

src/modules/fw_pos_control_l1/launchdetection/LaunchMethod.h

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   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 LaunchMethod.h
+ * Base class for different launch methods
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef LAUNCHMETHOD_H_
+#define LAUNCHMETHOD_H_
+
+namespace launchdetection
+{
+
+enum LaunchDetectionResult {
+	LAUNCHDETECTION_RES_NONE = 0, /**< No launch has been detected */
+	LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL = 1, /**< Launch has been detected, the controller should
+							  control the attitude. However any motors should not throttle
+							  up. For instance this is used to have a delay for the motor
+							  when launching a fixed wing aircraft from a bungee */
+	LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS = 2 /**< Launch has been detected, the controller should control
+							attitude and also throttle up the motors. */
+};
+
+class LaunchMethod
+{
+public:
+	virtual ~LaunchMethod() = default;
+
+	virtual void update(float accel_x) = 0;
+	virtual LaunchDetectionResult getLaunchDetected() const = 0;
+	virtual void reset() = 0;
+
+	/* Returns a upper pitch limit if required, otherwise returns pitchMaxDefault */
+	virtual float getPitchMax(float pitchMaxDefault) = 0;
+
+};
+
+} // namespace launchdetection
+
+#endif /* LAUNCHMETHOD_H_ */

src/modules/fw_pos_control_l1/launchdetection/launchdetection_params.c

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   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_params.c
+ *
+ * Parameters for launchdetection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+/*
+ * Catapult launch detection parameters, accessible via MAVLink
+ *
+ */
+
+/**
+ * Launch detection
+ *
+ * @boolean
+ * @group FW Launch detection
+ */
+PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
+
+/**
+ * Catapult accelerometer threshold.
+ *
+ * LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
+ *
+ * @unit m/s/s
+ * @min 0
+ * @decimal 1
+ * @increment 0.5
+ * @group FW Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
+
+/**
+ * Catapult time threshold.
+ *
+ * LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
+ *
+ * @unit s
+ * @min 0.0
+ * @max 5.0
+ * @decimal 2
+ * @increment 0.05
+ * @group FW Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
+
+/**
+ * Motor delay
+ *
+ * Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
+ * Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate
+ *
+ * @unit s
+ * @min 0.0
+ * @max 10.0
+ * @decimal 1
+ * @increment 0.5
+ * @group FW Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);
+
+/**
+ * Maximum pitch before the throttle is powered up (during motor delay phase)
+ *
+ * This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
+ * This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 45.0
+ * @decimal 1
+ * @increment 0.5
+ * @group FW Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_PMAX, 30.0f);