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Detect launch on gps speed #6726

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merged 4 commits into from
Mar 23, 2021
Merged

Detect launch on gps speed #6726

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94aff24
detect launch on gps speed
avsaase Mar 19, 2021
749111d
add acceleration check
avsaase Mar 19, 2021
c2a9876
check gps
avsaase Mar 20, 2021
3a82e26
add groundspeed check
avsaase Mar 22, 2021
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5 changes: 4 additions & 1 deletion src/main/navigation/navigation_fw_launch.c
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,8 @@
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"

#include "io/gps.h"

#define SWING_LAUNCH_MIN_ROTATION_RATE DEGREES_TO_RADIANS(100) // expect minimum 100dps rotation rate
#define LAUNCH_MOTOR_IDLE_SPINUP_TIME 1500 // ms
#define UNUSED(x) ((void)(x))
Expand Down Expand Up @@ -316,10 +318,11 @@ static fixedWingLaunchEvent_t fwLaunchState_FW_LAUNCH_STATE_WAIT_DETECTION(timeU

const bool isBungeeLaunched = isForwardAccelerationHigh && isAircraftAlmostLevel;
const bool isSwingLaunched = (swingVelocity > navConfig()->fw.launch_velocity_thresh) && (imuMeasuredAccelBF.x > 0);
const bool isForwardLaunched = isGPSHeadingValid() && (gpsSol.groundSpeed > navConfig()->fw.launch_velocity_thresh) && (imuMeasuredAccelBF.x > 0);

applyThrottleIdleLogic(false);

if (isBungeeLaunched || isSwingLaunched) {
if (isBungeeLaunched || isSwingLaunched || isForwardLaunched) {
if (currentStateElapsedMs(currentTimeUs) > navConfig()->fw.launch_time_thresh) {
return FW_LAUNCH_EVENT_SUCCESS; // the launch is detected now, go to FW_LAUNCH_STATE_DETECTED
}
Expand Down