LaunchDetector.h

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/**
 * @file LaunchDetector.h
 * Auto Detection for different launch methods (e.g. catapult)
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#ifndef LAUNCHDETECTOR_H
#define LAUNCHDETECTOR_H

#include "LaunchMethod.h"
#include <px4_platform_common/module_params.h>

namespace launchdetection
{

class __EXPORT LaunchDetector : public ModuleParams
{
public:
    LaunchDetector(ModuleParams *parent);
    ~LaunchDetector() override;

    LaunchDetector(const LaunchDetector &) = delete;
    LaunchDetector operator=(const LaunchDetector &) = delete;

    void reset();

    void update(float accel_x);
    LaunchDetectionResult getLaunchDetected();
    bool launchDetectionEnabled() { return _param_laun_all_on.get(); }

    /* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
    float getPitchMax(float pitchMaxDefault);

private:
    /* holds an index to the launchMethod in the array _launchMethods
     * which detected a Launch. If no launchMethod has detected a launch yet the
     * value is -1. Once one launchMethod has detected a launch only this
     * method is checked for further advancing in the state machine
     * (e.g. when to power up the motors)
     */
    int _activeLaunchDetectionMethodIndex{-1};

    LaunchMethod *_launchMethods[1];

    DEFINE_PARAMETERS(
        (ParamBool<px4::params::LAUN_ALL_ON>) _param_laun_all_on
    )
};

} // namespace launchdetection

#endif // LAUNCHDETECTOR_H