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80 lines
2.5 KiB
C++
80 lines
2.5 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 "BlockLimitSym.hpp"
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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 rectangular integrator.
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* A limiter is built into the class to bound the
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* integral's internal state. This is important
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* for windup protection.
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* @see Limit
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*/
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class __EXPORT BlockIntegral: public SuperBlock
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{
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public:
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// methods
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BlockIntegral(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_y(0),
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_limit(this, "") {}
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virtual ~BlockIntegral() {}
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float update(float input);
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// accessors
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float getY() {return _y;}
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float getMax() {return _limit.getMax();}
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void setY(float y) {_y = y;}
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protected:
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// attributes
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float _y; /**< previous output */
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BlockLimitSym _limit; /**< limiter */
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};
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} // namespace control
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