LaunchDetector.cpp

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

#include "CatapultLaunchMethod.h"
#include "LaunchDetector.h"

#include <px4_platform_common/log.h>

namespace launchdetection
{

LaunchDetector::LaunchDetector(ModuleParams *parent) :
    ModuleParams(parent)
{
    /* init all detectors */
    _launchMethods[0] = new CatapultLaunchMethod(this);
}

LaunchDetector::~LaunchDetector()
{
    delete _launchMethods[0];
}

void LaunchDetector::reset()
{
    /* Reset all detectors */
    for (const auto launchMethod : _launchMethods) {
        launchMethod->reset();
    }

    /* Reset active launchdetector */
    _activeLaunchDetectionMethodIndex = -1;
}

void LaunchDetector::update(float accel_x)
{
    if (launchDetectionEnabled()) {
        for (const auto launchMethod : _launchMethods) {
            launchMethod->update(accel_x);
        }
    }
}

LaunchDetectionResult LaunchDetector::getLaunchDetected()
{
    if (launchDetectionEnabled()) {
        if (_activeLaunchDetectionMethodIndex < 0) {
            /* None of the active _launchmethods has detected a launch, check all _launchmethods */
            for (unsigned i = 0; i < (sizeof(_launchMethods) / sizeof(_launchMethods[0])); i++) {
                if (_launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
                    PX4_INFO("selecting launchmethod %d", i);
                    _activeLaunchDetectionMethodIndex = i; // from now on only check this method
                    return _launchMethods[i]->getLaunchDetected();
                }
            }

        } else {
            return _launchMethods[_activeLaunchDetectionMethodIndex]->getLaunchDetected();
        }
    }

    return LAUNCHDETECTION_RES_NONE;
}

float LaunchDetector::getPitchMax(float pitchMaxDefault)
{
    if (!launchDetectionEnabled()) {
        return pitchMaxDefault;
    }

    /* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
     * otherwise use the default limit */
    if (_activeLaunchDetectionMethodIndex < 0) {
        if (sizeof(_launchMethods) / sizeof(LaunchMethod *) > 1) {
            return pitchMaxDefault;

        } else {
            return _launchMethods[0]->getPitchMax(pitchMaxDefault);
        }

    } else {
        return _launchMethods[_activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
    }
}

} // namespace launchdetection