initial wip version of launchdetector

2026-10-23 23:53:34 +08:00 · 2013-11-15 22:43:07 +01:00
parent 2116966b1e
commit ebbe4d2235
10 changed files with 529 additions and 17 deletions
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 documentation4 and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL 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/block/BlockParam.hpp>
+
+class CatapultLaunchMethod : public LaunchMethod
+{
+public:
+	CatapultLaunchMethod();
+	~CatapultLaunchMethod();
+
+	void update(float accel_x);
+	bool getLaunchDetected();
+	void updateParams();
+
+private:
+	hrt_abstime last_timestamp;
+//	float threshold_accel_raw;
+//	float threshold_time;
+	float integrator;
+	bool launchDetected;
+
+	control::BlockParamFloat threshold_accel;
+	control::BlockParamFloat threshold_time;
+
+};
+
+#endif /* CATAPULTLAUNCHMETHOD_H_ */