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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.
75 lines
2.8 KiB
C++
75 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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****************************************************************************/
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/**
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* @file LaunchMethod.h
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* Base class for different launch methods
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#ifndef LAUNCHMETHOD_H_
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#define LAUNCHMETHOD_H_
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namespace launchdetection
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{
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enum LaunchDetectionResult {
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LAUNCHDETECTION_RES_NONE = 0, /**< No launch has been detected */
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LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL = 1, /**< Launch has been detected, the controller should
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control the attitude. However any motors should not throttle
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up and still be set to 'throttlePreTakeoff'.
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For instance this is used to have a delay for the motor
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when launching a fixed wing aircraft from a bungee */
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LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS = 2 /**< Launch has been detected, teh controller should control
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attitude and also throttle up the motors. */
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};
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class LaunchMethod
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{
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public:
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virtual void update(float accel_x) = 0;
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virtual LaunchDetectionResult getLaunchDetected() const = 0;
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virtual void reset() = 0;
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/* Returns a upper pitch limit if required, otherwise returns pitchMaxDefault */
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virtual float getPitchMax(float pitchMaxDefault) = 0;
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protected:
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private:
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};
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}
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#endif /* LAUNCHMETHOD_H_ */
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