FastLaunchDetector.cpp

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#include "state_estimation/FastLaunchDetector.h"
 
// #define DEBUG
#ifdef DEBUG
#include "ArduinoHAL.h"
#endif
 
FastLaunchDetector::FastLaunchDetector(float accelerationThreshold_ms2, uint32_t confirmationWindow_ms) //NOLINT(bugprone-easily-swappable-parameters)
    : accelerationThresholdSq_ms2(accelerationThreshold_ms2 * accelerationThreshold_ms2),
      launched(false),
      launchedTime_ms(0),
      confirmationWindow_ms(confirmationWindow_ms)
{}
 
int FastLaunchDetector::update(AccelerationTriplet accel){
 
    // Calculate the magnitude of the acceleration squared
    const float aclMagSq = accel.x.data * accel.x.data + accel.y.data * accel.y.data + accel.z.data * accel.z.data;
 
    // Take the average of the timestamps
    // Ideally these should all be the same
    const uint32_t time_ms = (accel.x.timestamp_ms + accel.y.timestamp_ms + accel.z.timestamp_ms) / 3;
 
    //if launch already detected, ignore further data
    if (launched){
        #ifdef DEBUG
        Serial.println("FastLaunchDetector: Data point ignored because already launched");
        #endif
        return FLD_ALREADY_LAUNCHED;
    }
 
    //if accel higher than threshold, launch detected
    if (aclMagSq > accelerationThresholdSq_ms2){
        launched = true;
        launchedTime_ms = time_ms;
        return FLD_LAUNCH_DETECTED;
    }
 
    //if accel lower than threshold, acl too low
    if (aclMagSq < accelerationThresholdSq_ms2) {
        #ifdef DEBUG
        Serial.println("FastLaunchDetector: Acceloration below threshold");
        #endif
        return FLD_ACL_TOO_LOW;
    }
 
    return FLD_DEFAULT_FAIL;
}
 
void FastLaunchDetector::reset(){
    launched = false;
    launchedTime_ms = 0;
}