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123 lines
3.9 KiB
C++
123 lines
3.9 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 launchDetection.cpp
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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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#include "CatapultLaunchMethod.h"
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#include "LaunchDetector.h"
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#include <px4_platform_common/log.h>
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namespace launchdetection
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{
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LaunchDetector::LaunchDetector(ModuleParams *parent) :
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ModuleParams(parent)
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{
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/* init all detectors */
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_launchMethods[0] = new CatapultLaunchMethod(this);
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}
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LaunchDetector::~LaunchDetector()
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{
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delete _launchMethods[0];
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}
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void LaunchDetector::reset()
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{
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/* Reset all detectors */
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for (const auto launchMethod : _launchMethods) {
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launchMethod->reset();
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}
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/* Reset active launchdetector */
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_activeLaunchDetectionMethodIndex = -1;
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}
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void LaunchDetector::update(const float dt, float accel_x)
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{
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if (launchDetectionEnabled()) {
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for (const auto launchMethod : _launchMethods) {
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launchMethod->update(dt, accel_x);
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}
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}
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}
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LaunchDetectionResult LaunchDetector::getLaunchDetected()
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{
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if (launchDetectionEnabled()) {
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if (_activeLaunchDetectionMethodIndex < 0) {
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/* None of the active _launchmethods has detected a launch, check all _launchmethods */
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for (unsigned i = 0; i < (sizeof(_launchMethods) / sizeof(_launchMethods[0])); i++) {
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if (_launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
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PX4_INFO("selecting launchmethod %d", i);
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_activeLaunchDetectionMethodIndex = i; // from now on only check this method
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return _launchMethods[i]->getLaunchDetected();
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}
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}
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} else {
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return _launchMethods[_activeLaunchDetectionMethodIndex]->getLaunchDetected();
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}
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}
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return LAUNCHDETECTION_RES_NONE;
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}
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float LaunchDetector::getPitchMax(float pitchMaxDefault)
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{
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if (!launchDetectionEnabled()) {
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return pitchMaxDefault;
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}
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/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
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* otherwise use the default limit */
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if (_activeLaunchDetectionMethodIndex < 0) {
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if (sizeof(_launchMethods) / sizeof(LaunchMethod *) > 1) {
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return pitchMaxDefault;
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} else {
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return _launchMethods[0]->getPitchMax(pitchMaxDefault);
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}
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} else {
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return _launchMethods[_activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
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}
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}
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} // namespace launchdetection
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