fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 06:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed launchdetection logic, catapult tested in HIL

Browse Source
This commit is contained in:
Thomas Gubler
2013-12-30 19:08:09 +01:00
parent bd88209f5c
commit 9cc1fc1cb5
2 changed files with 48 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/launchdetection/CatapultLaunchMethod.cpp
+5
View File
@@ -39,6 +39,7 @@
*/
#include "CatapultLaunchMethod.h"
#include <systemlib/err.h>
CatapultLaunchMethod::CatapultLaunchMethod() :
last_timestamp(0),
@@ -61,11 +62,15 @@ void CatapultLaunchMethod::update(float accel_x)
if (accel_x > threshold_accel.get()) {
integrator += accel_x * dt;
// warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
// (double)integrator, (double)threshold_accel.get(), (double)threshold_time.get(), (double)accel_x, (double)dt);
if (integrator > threshold_accel.get() * threshold_time.get()) {
launchDetected = true;
}
} else {
// warnx("integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
// (double)integrator, (double)threshold_accel.get(), (double)threshold_time.get(), (double)accel_x, (double)dt);
/* reset integrator */
integrator = 0.0f;
launchDetected = false;