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_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);
	}
}

float LaunchDetector::getThrottleIdle(float throttleIdleDefault)
{
	if (!launchDetectionEnabled()) {
		return throttleIdleDefault;
	}

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

		} else {
			return _launchMethods[0]->getThrottleIdle(throttleIdleDefault);
		}

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

} // namespace launchdetection