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daf1618420
The pitch limit can be used by the laucnhdetector to limit pitch during critical phases of a launch. For example this can be used to limit pitch while attached to a bungee differently from the standard pitch limit.
129 lines
4.0 KiB
C++
129 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file launchDetection.cpp
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* Auto Detection for different launch methods (e.g. catapult)
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "LaunchDetector.h"
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#include "CatapultLaunchMethod.h"
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#include <systemlib/err.h>
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namespace launchdetection
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{
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LaunchDetector::LaunchDetector() :
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SuperBlock(NULL, "LAUN"),
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activeLaunchDetectionMethodIndex(-1),
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launchdetection_on(this, "ALL_ON"),
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throttlePreTakeoff(this, "THR_PRE")
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{
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/* init all detectors */
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launchMethods[0] = new CatapultLaunchMethod(this);
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/* update all parameters of all detectors */
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updateParams();
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}
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LaunchDetector::~LaunchDetector()
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{
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}
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void LaunchDetector::reset()
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{
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/* Reset all detectors */
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for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
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launchMethods[i]->reset();
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}
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/* Reset active launchdetector */
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activeLaunchDetectionMethodIndex = -1;
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}
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void LaunchDetector::update(float accel_x)
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{
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if (launchdetection_on.get() == 1) {
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for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
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launchMethods[i]->update(accel_x);
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}
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}
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}
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LaunchDetectionResult LaunchDetector::getLaunchDetected()
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{
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if (launchdetection_on.get() == 1) {
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if (activeLaunchDetectionMethodIndex < 0) {
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/* None of the active launchmethods has detected a launch, check all launchmethods */
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for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
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if(launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
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warnx("selecting launchmethod %d", i);
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activeLaunchDetectionMethodIndex = i; // from now on only check this method
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return launchMethods[i]->getLaunchDetected();
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}
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}
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} else {
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return launchMethods[activeLaunchDetectionMethodIndex]->getLaunchDetected();
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}
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}
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return LAUNCHDETECTION_RES_NONE;
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}
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float LaunchDetector::getPitchMax(float pitchMaxDefault) {
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if (!launchdetection_on.get()) {
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return pitchMaxDefault;
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}
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/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
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* otherwise use the default limit */
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if (activeLaunchDetectionMethodIndex < 0) {
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if (sizeof(launchMethods)/sizeof(LaunchMethod) > 1) {
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return pitchMaxDefault;
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} else {
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return launchMethods[0]->getPitchMax(pitchMaxDefault);
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}
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} else {
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return launchMethods[activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
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}
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}
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}
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