CatapultLaunchMethod.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   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 CatapultLaunchMethod.cpp
 * Catapult Launch detection
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 *
 */

#include "CatapultLaunchMethod.h"

#include <px4_platform_common/log.h>

namespace launchdetection
{

CatapultLaunchMethod::CatapultLaunchMethod(ModuleParams *parent) :
    ModuleParams(parent)
{
    _last_timestamp = hrt_absolute_time();
}

void CatapultLaunchMethod::update(float accel_x)
{
    float dt = hrt_elapsed_time(&_last_timestamp) * 1e-6f;
    _last_timestamp = hrt_absolute_time();

    switch (state) {
    case LAUNCHDETECTION_RES_NONE:

        /* Detect a acceleration that is longer and stronger as the minimum given by the params */
        if (accel_x > _param_laun_cat_a.get()) {
            _integrator += dt;

            if (_integrator > _param_laun_cat_t.get()) {
                if (_param_laun_cat_mdel.get() > 0.0f) {
                    state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
                    PX4_WARN("Launch detected: enablecontrol, waiting %8.4fs until full throttle",
                         double(_param_laun_cat_mdel.get()));

                } else {
                    /* No motor delay set: go directly to enablemotors state */
                    state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
                    PX4_WARN("Launch detected: enablemotors (delay not activated)");
                }
            }

        } else {
            reset();
        }

        break;

    case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL:
        /* Vehicle is currently controlling attitude but not with full throttle. Waiting until delay is
         * over to allow full throttle */
        _motorDelayCounter += dt;

        if (_motorDelayCounter > _param_laun_cat_mdel.get()) {
            PX4_INFO("Launch detected: state enablemotors");
            state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
        }

        break;

    default:
        break;

    }
}

LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const
{
    return state;
}

void CatapultLaunchMethod::reset()
{
    _integrator = 0.0f;
    _motorDelayCounter = 0.0f;
    state = LAUNCHDETECTION_RES_NONE;
}

float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault)
{
    /* If motor is turned on do not impose the extra limit on maximum pitch */
    if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
        return pitchMaxDefault;

    } else {
        return _param_laun_cat_pmax.get();
    }
}

} // namespace launchdetection