mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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
|
|
{
|
|
/**
|
|
* An output trim/ saturation block
|
|
*/
|
|
class __EXPORT BlockOutput: public SuperBlock
|
|
{
|
|
public:
|
|
// methods
|
|
BlockOutput(SuperBlock *parent, const char *name) :
|
|
SuperBlock(parent, name),
|
|
_trim(this, "TRIM"),
|
|
_limit(this, ""),
|
|
_val(0)
|
|
{
|
|
update(0);
|
|
}
|
|
|
|
virtual ~BlockOutput() {}
|
|
void update(float input)
|
|
{
|
|
_val = _limit.update(input + getTrim());
|
|
}
|
|
// accessors
|
|
float getMin() { return _limit.getMin(); }
|
|
float getMax() { return _limit.getMax(); }
|
|
float getTrim() { return _trim.get(); }
|
|
float get() { return _val; }
|
|
private:
|
|
// attributes
|
|
control::BlockParamFloat _trim;
|
|
BlockLimit _limit;
|
|
float _val;
|
|
};
|
|
|
|
} // namespace control
|