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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Thomas Gubler
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.
89 lines
3.1 KiB
C++
89 lines
3.1 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file LaunchDetector.h
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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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#ifndef LAUNCHDETECTOR_H
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#define LAUNCHDETECTOR_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "LaunchMethod.h"
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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namespace launchdetection
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{
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class __EXPORT LaunchDetector : public control::SuperBlock
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{
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public:
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LaunchDetector();
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~LaunchDetector();
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void reset();
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void update(float accel_x);
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LaunchDetectionResult getLaunchDetected();
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bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
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float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
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/* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
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float getPitchMax(float pitchMaxDefault);
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// virtual bool getLaunchDetected();
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protected:
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private:
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int activeLaunchDetectionMethodIndex; /**< holds a index to the launchMethod in the array launchMethods
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which detected a Launch. If no launchMethod has detected a launch yet the
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value is -1. Once one launchMetthod has detected a launch only this
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method is checked for further adavancing in the state machine (e.g. when
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to power up the motors) */
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LaunchMethod* launchMethods[1];
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control::BlockParamInt launchdetection_on;
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control::BlockParamFloat throttlePreTakeoff;
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};
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}
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#endif // LAUNCHDETECTOR_H
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