CatapultLaunchMethod.h

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/**
 * @file CatapultLaunchMethod.h
 * Catpult Launch detection
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#ifndef CATAPULTLAUNCHMETHOD_H_
#define CATAPULTLAUNCHMETHOD_H_

#include "LaunchMethod.h"

#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>

namespace launchdetection
{

class CatapultLaunchMethod : public LaunchMethod, public ModuleParams
{
public:
    CatapultLaunchMethod(ModuleParams *parent);
    ~CatapultLaunchMethod() override = default;

    void update(float accel_x) override;
    LaunchDetectionResult getLaunchDetected() const override;
    void reset() override;
    float getPitchMax(float pitchMaxDefault) override;

private:
    hrt_abstime _last_timestamp{0};
    float _integrator{0.0f};
    float _motorDelayCounter{0.0f};

    LaunchDetectionResult state{LAUNCHDETECTION_RES_NONE};

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::LAUN_CAT_A>) _param_laun_cat_a,
        (ParamFloat<px4::params::LAUN_CAT_T>) _param_laun_cat_t,
        (ParamFloat<px4::params::LAUN_CAT_MDEL>) _param_laun_cat_mdel,
        (ParamFloat<px4::params::LAUN_CAT_PMAX>) _param_laun_cat_pmax /**< Upper pitch limit before throttle is turned on.
                               Can be used to make sure that the AC does not climb
                               too much while attached to a bungee */
    )

};

#endif /* CATAPULTLAUNCHMETHOD_H_ */

} // namespace launchdetection