move launchdetection lib to fw_pos_control_l1

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