controllib split blocks into separate files

src/lib/controllib/BlockLowPass2.hpp

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <px4_defines.h>
+#include <assert.h>
+#include <time.h>
+#include <stdlib.h>
+#include <math.h>
+#include <mathlib/math/test/test.hpp>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+
+#include "block/Block.hpp"
+#include "block/BlockParam.hpp"
+
+#include "matrix/math.hpp"
+
+namespace control
+{
+
+/**
+ * A 2nd order low pass filter block which uses the default px4 2nd order low pass filter
+ */
+class __EXPORT BlockLowPass2 : public Block
+{
+public:
+// methods
+	BlockLowPass2(SuperBlock *parent, const char *name, float sample_freq) :
+		Block(parent, name),
+		_state(0.0 / 0.0 /* initialize to invalid val, force into is_finite() check on first call */),
+		_fCut(this, ""), // only one parameter, no need to name
+		_fs(sample_freq),
+		_lp(_fs, _fCut.get())
+	{};
+	virtual ~BlockLowPass2() {};
+	float update(float input);
+// accessors
+	float getState() { return _state; }
+	float getFCutParam() { return _fCut.get(); }
+	void setState(float state) { _state = _lp.reset(state); }
+protected:
+// attributes
+	float _state;
+	control::BlockParamFloat _fCut;
+	float _fs;
+	math::LowPassFilter2p _lp;
+};
+
+} // namespace control