mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 00:00:35 +08:00
Thomas Stastny
122 lines
4.4 KiB
C++
122 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2022 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 launch detection for catapult/hand-launch vehicles
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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 <px4_platform_common/log.h>
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#include <px4_platform_common/events.h>
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namespace launchdetection
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{
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void LaunchDetector::update(const float dt, const float accel_x)
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{
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switch (state_) {
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case launch_detection_status_s::STATE_WAITING_FOR_LAUNCH:
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info_delay_counter_s_ += dt;
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/* Inform user that launchdetection is running every kInfoDelay seconds */
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if (info_delay_counter_s_ >= kInfoDelay) {
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events::send(events::ID("launch_detection_running_info"), events::Log::Info, "Launch detection running");
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info_delay_counter_s_ = 0.f; // reset counter
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}
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/* Detect a acceleration that is longer and stronger as the minimum given by the params */
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if (accel_x > param_fw_laun_ac_thld_.get()) {
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acceleration_detected_counter_ += dt;
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if (acceleration_detected_counter_ > param_fw_laun_ac_t_.get()) {
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if (param_fw_laun_mot_del_.get() > 0.f) {
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state_ = launch_detection_status_s::STATE_LAUNCH_DETECTED_DISABLED_MOTOR;
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events::send<float>(events::ID("launch_detection_wait_for_throttle"), {events::Log::Info, events::LogInternal::Info},
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"Launch detected: enablecontrol, waiting {1:.1}s until full throttle", (double)param_fw_laun_mot_del_.get());
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} else {
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/* No motor delay set: go directly to enablemotors state */
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state_ = launch_detection_status_s::STATE_FLYING;
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events::send(events::ID("launch_detection_no_motor_delay"), {events::Log::Info, events::LogInternal::Info},
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"Launch detected: enable motors (no motor delay)");
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}
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}
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} else {
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acceleration_detected_counter_ = 0.f;
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}
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break;
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case launch_detection_status_s::STATE_LAUNCH_DETECTED_DISABLED_MOTOR:
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/* Vehicle is currently controlling attitude but at idle throttle. Waiting until delay is
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* over to allow full throttle */
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motor_delay_counter_ += dt;
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if (motor_delay_counter_ > param_fw_laun_mot_del_.get()) {
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events::send(events::ID("launch_detection_enable_motors"), {events::Log::Info, events::LogInternal::Info},
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"Launch detected: enable motors");
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state_ = launch_detection_status_s::STATE_FLYING;
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}
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info_delay_counter_s_ = kInfoDelay; // reset counter
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break;
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default: // state flying
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info_delay_counter_s_ = kInfoDelay; // reset counter
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break;
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}
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}
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uint LaunchDetector::getLaunchDetected() const
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{
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return state_;
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}
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void LaunchDetector::reset()
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{
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info_delay_counter_s_ = 0.f;
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acceleration_detected_counter_ = 0.f;
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motor_delay_counter_ = 0.f;
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state_ = launch_detection_status_s::STATE_WAITING_FOR_LAUNCH;
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}
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} // namespace launchdetection
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