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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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83 lines
3.0 KiB
C++
83 lines
3.0 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 CatapultLaunchMethod.h
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* Catpult Launch detection
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#ifndef CATAPULTLAUNCHMETHOD_H_
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#define CATAPULTLAUNCHMETHOD_H_
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#include "LaunchMethod.h"
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/module_params.h>
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namespace launchdetection
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{
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class CatapultLaunchMethod : public LaunchMethod, public ModuleParams
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{
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public:
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CatapultLaunchMethod(ModuleParams *parent);
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~CatapultLaunchMethod() override = default;
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void update(const float dt, float accel_x) override;
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LaunchDetectionResult getLaunchDetected() const override;
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void reset() override;
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float getPitchMax(float pitchMaxDefault) override;
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private:
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float _integrator{0.0f};
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float _motorDelayCounter{0.0f};
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LaunchDetectionResult state{LAUNCHDETECTION_RES_NONE};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::LAUN_CAT_A>) _param_laun_cat_a,
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(ParamFloat<px4::params::LAUN_CAT_T>) _param_laun_cat_t,
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(ParamFloat<px4::params::LAUN_CAT_MDEL>) _param_laun_cat_mdel,
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(ParamFloat<px4::params::LAUN_CAT_PMAX>) _param_laun_cat_pmax /**< Upper pitch limit before throttle is turned on.
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Can be used to make sure that the AC does not climb
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too much while attached to a bungee */
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)
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};
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#endif /* CATAPULTLAUNCHMETHOD_H_ */
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} // namespace launchdetection
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