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92 lines
3.1 KiB
C++
92 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 SlewRate.hpp
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*
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* Library limit the rate of change of a value with a maximum slew rate.
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include <mathlib/mathlib.h>
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#include <matrix/math.hpp>
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template<typename Type>
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class SlewRate
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{
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public:
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SlewRate() = default;
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~SlewRate() = default;
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/**
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* Set maximum rate of change for the value
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* @param slew_rate maximum rate of change
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*/
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void setSlewRate(const Type slew_rate) { _slew_rate = slew_rate; }
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/**
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* Set value ignoring slew rate for initialization purpose
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* @param value new applied value
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*/
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void setForcedValue(const Type value) { _value = value; }
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/**
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* Get value from last update of the slew rate
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* @return current value the slew rate is at
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*/
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Type getState() const { return _value; }
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/**
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* Update slewrate
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* @param new_value desired new value
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* @param deltatime time in seconds since last update
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* @return actual value that complies with the slew rate
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*/
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Type update(const Type new_value, const float deltatime)
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{
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// Limit the rate of change of the value
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const Type dvalue_desired = new_value - _value;
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const Type dvalue_max = _slew_rate * deltatime;
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const Type dvalue = math::constrain(dvalue_desired, -dvalue_max, dvalue_max);
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_value += dvalue;
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return _value;
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}
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protected:
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Type _slew_rate{}; ///< maximum rate of change for the value
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Type _value{}; ///< state to keep last value of the slew rate
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};
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