mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
94 lines
2.8 KiB
C++
94 lines
2.8 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013, 2014 PX4 Development Team. 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 documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 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 launchDetection.cpp
|
|
* Auto Detection for different launch methods (e.g. catapult)
|
|
*
|
|
* @author Thomas Gubler <thomasgubler@gmail.com>
|
|
*/
|
|
|
|
#include "LaunchDetector.h"
|
|
#include "CatapultLaunchMethod.h"
|
|
#include <systemlib/err.h>
|
|
|
|
namespace launchdetection
|
|
{
|
|
|
|
LaunchDetector::LaunchDetector() :
|
|
SuperBlock(NULL, "LAUN"),
|
|
launchdetection_on(this, "ALL_ON"),
|
|
throttlePreTakeoff(this, "THR_PRE")
|
|
{
|
|
/* init all detectors */
|
|
launchMethods[0] = new CatapultLaunchMethod(this);
|
|
|
|
|
|
/* update all parameters of all detectors */
|
|
updateParams();
|
|
}
|
|
|
|
LaunchDetector::~LaunchDetector()
|
|
{
|
|
|
|
}
|
|
|
|
void LaunchDetector::reset()
|
|
{
|
|
/* Reset all detectors */
|
|
launchMethods[0]->reset();
|
|
}
|
|
|
|
void LaunchDetector::update(float accel_x)
|
|
{
|
|
if (launchdetection_on.get() == 1) {
|
|
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
|
|
launchMethods[i]->update(accel_x);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool LaunchDetector::getLaunchDetected()
|
|
{
|
|
if (launchdetection_on.get() == 1) {
|
|
for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
|
|
if(launchMethods[i]->getLaunchDetected()) {
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
}
|