mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 23:47:34 +08:00
Daniel Agar
101 lines
3.1 KiB
C++
101 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file blocks.h
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*
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* Controller library code
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*/
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#pragma once
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#include "BlockLowPass.hpp"
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#include <px4_defines.h>
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#include <math.h>
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#include "block/Block.hpp"
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#include "block/BlockParam.hpp"
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#include "matrix/math.hpp"
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namespace control
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{
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/**
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* A simple derivative approximation.
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* This uses the previous and current input.
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* This has a built in low pass filter.
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* @see LowPass
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*/
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class __EXPORT BlockDerivative : public SuperBlock
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{
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public:
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// methods
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BlockDerivative(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_u(0),
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_initialized(false),
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_lowPass(this, "LP")
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{}
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virtual ~BlockDerivative() {}
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/**
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* Update the state and get current derivative
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*
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* This call updates the state and gets the current
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* derivative. As the derivative is only valid
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* on the second call to update, it will return
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* no change (0) on the first. To get a closer
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* estimate of the derivative on the first call,
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* call setU() one time step before using the
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* return value of update().
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*
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* @param input the variable to calculate the derivative of
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* @return the current derivative
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*/
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float update(float input);
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// accessors
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void setU(float u) {_u = u;}
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float getU() {return _u;}
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float getLP() {return _lowPass.getFCut();}
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float getO() { return _lowPass.getState(); }
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protected:
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// attributes
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float _u; /**< previous input */
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bool _initialized;
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BlockLowPass _lowPass; /**< low pass filter */
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};
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} // namespace control
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