launchdetection: add minimal throttle, fix parameter update

src/lib/launchdetection/LaunchDetector.cpp

@@ -43,7 +43,8 @@
 #include <systemlib/err.h>
 
 LaunchDetector::LaunchDetector() :
-	launchdetection_on(NULL, "LAUN_ALL_ON", false)
+	launchdetection_on(NULL, "LAUN_ALL_ON", false),
+	throttle_min(NULL, "LAUN_THR_MIN", false)
 {
 	/* init all detectors */
 	launchMethods[0] = new CatapultLaunchMethod();
@@ -83,10 +84,11 @@ bool LaunchDetector::getLaunchDetected()
 void LaunchDetector::updateParams() {
 
 	warnx(" LaunchDetector::updateParams()");
-	//launchdetection_on.update();
+	launchdetection_on.update();
+	throttle_min.update();
 
 	for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
-		//launchMethods[i]->updateParams();
+		launchMethods[i]->updateParams();
 		warnx("updating component %d", i);
 	}
 

src/lib/launchdetection/LaunchDetector.h

@@ -59,11 +59,14 @@ public:
 	void updateParams();
 	bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
 
+	float getMinThrottle() {return throttle_min.get(); }
+
 //	virtual bool getLaunchDetected();
 protected:
 private:
 	LaunchMethod* launchMethods[1];
 	control::BlockParamInt launchdetection_on;
+	control::BlockParamFloat throttle_min;
 
 
 };

src/lib/launchdetection/launchdetection_params.c

@@ -33,11 +33,11 @@
  ****************************************************************************/
 
 /**
- * @file fw_pos_control_l1_params.c
+ * @file launchdetection_params.c
  *
- * Parameters defined by the L1 position control task
+ * Parameters for launchdetection
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #include <nuttx/config.h>
@@ -65,3 +65,8 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
 // @Description		LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
 // @Range		> 0, in seconds
 PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
+
+// @DisplayName		Throttle setting while detecting the launch
+// @Description		The throttle is set to this value while the system is waiting for the takeoff
+// @Range		0 to 1
+PARAM_DEFINE_FLOAT(LAUN_THR_MIN, 0.0f);

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -1028,7 +1028,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
 				}
 
 			} else {
-				throttle_max = 0.0f;
+				throttle_max = launchDetector.getMinThrottle();
 			}
 		}