Merge pull request #714 from thomasgubler/launchdetection_cleanup

launchdetection: better integration of Block class

src/lib/launchdetection/CatapultLaunchMethod.cpp

@@ -41,12 +41,16 @@
 #include "CatapultLaunchMethod.h"
 #include <systemlib/err.h>
 
-CatapultLaunchMethod::CatapultLaunchMethod() :
+namespace launchdetection
+{
+
+CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
+	SuperBlock(parent, "CAT"),
 	last_timestamp(hrt_absolute_time()),
 	integrator(0.0f),
 	launchDetected(false),
-	threshold_accel(NULL, "LAUN_CAT_A", false),
+	threshold_accel(this, "A"),
-	threshold_time(NULL, "LAUN_CAT_T", false)
+	threshold_time(this, "T")
 {
 
 }
@@ -83,14 +87,11 @@ bool CatapultLaunchMethod::getLaunchDetected()
 	return launchDetected;
 }
 
-void CatapultLaunchMethod::updateParams()
-{
-	threshold_accel.update();
-	threshold_time.update();
-}
 
 void CatapultLaunchMethod::reset()
 {
 	integrator = 0.0f;
 	launchDetected = false;
 }
+
+}

src/lib/launchdetection/CatapultLaunchMethod.h

@@ -44,17 +44,20 @@
 #include "LaunchMethod.h"
 
 #include <drivers/drv_hrt.h>
+#include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
 
-class CatapultLaunchMethod : public LaunchMethod
+namespace launchdetection
+{
+
+class CatapultLaunchMethod : public LaunchMethod, public control::SuperBlock
 {
 public:
-	CatapultLaunchMethod();
+	CatapultLaunchMethod(SuperBlock *parent);
 	~CatapultLaunchMethod();
 
 	void update(float accel_x);
 	bool getLaunchDetected();
-	void updateParams();
 	void reset();
 
 private:
@@ -68,3 +71,5 @@ private:
 };
 
 #endif /* CATAPULTLAUNCHMETHOD_H_ */
+
+}

src/lib/launchdetection/LaunchDetector.cpp

@@ -42,12 +42,16 @@
 #include "CatapultLaunchMethod.h"
 #include <systemlib/err.h>
 
+namespace launchdetection
+{
+
 LaunchDetector::LaunchDetector() :
-	launchdetection_on(NULL, "LAUN_ALL_ON", false),
+	SuperBlock(NULL, "LAUN"),
-	throttlePreTakeoff(NULL, "LAUN_THR_PRE", false)
+	launchdetection_on(this, "ALL_ON"),
+	throttlePreTakeoff(this, "THR_PRE")
 {
 	/* init all detectors */
-	launchMethods[0] = new CatapultLaunchMethod();
+	launchMethods[0] = new CatapultLaunchMethod(this);
 
 
 	/* update all parameters of all detectors */
@@ -87,12 +91,4 @@ bool LaunchDetector::getLaunchDetected()
 	return false;
 }
 
-void LaunchDetector::updateParams() {
-
-	launchdetection_on.update();
-	throttlePreTakeoff.update();
-
-	for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
-		launchMethods[i]->updateParams();
-	}
 }

src/lib/launchdetection/LaunchDetector.h

@@ -45,10 +45,13 @@
 #include <stdint.h>
 
 #include "LaunchMethod.h"
-
+#include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
 
-class __EXPORT LaunchDetector
+namespace launchdetection
+{
+
+class __EXPORT LaunchDetector : public control::SuperBlock
 {
 public:
 	LaunchDetector();
@@ -57,7 +60,6 @@ public:
 
 	void update(float accel_x);
 	bool getLaunchDetected();
-	void updateParams();
 	bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
 
 	float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
@@ -72,5 +74,6 @@ private:
 
 };
 
+}
 
 #endif // LAUNCHDETECTOR_H

src/lib/launchdetection/LaunchMethod.h

@@ -41,15 +41,20 @@
 #ifndef LAUNCHMETHOD_H_
 #define LAUNCHMETHOD_H_
 
+namespace launchdetection
+{
+
 class LaunchMethod
 {
 public:
 	virtual void update(float accel_x) = 0;
 	virtual bool getLaunchDetected() = 0;
-	virtual void updateParams() = 0;
 	virtual void reset() = 0;
+
 protected:
 private:
 };
 
+}
+
 #endif /* LAUNCHMETHOD_H_ */

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -186,7 +186,7 @@ private:
 	float target_bearing;
 
 	/* Launch detection */
-	LaunchDetector launchDetector;
+	launchdetection::LaunchDetector launchDetector;
 
 	/* throttle and airspeed states */
 	float _airspeed_error;				///< airspeed error to setpoint in m/s
@@ -989,6 +989,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				} else	{
 					/* no takeoff detection --> fly */
 					launch_detected = true;
+					warnx("launchdetection off");
 				}
 			}