mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-28 05:34:07 +08:00
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
89 lines
2.8 KiB
C++
89 lines
2.8 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 <px4_platform_common/defines.h>
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#include <assert.h>
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#include <time.h>
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#include <stdlib.h>
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#include <math.h>
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#include <mathlib/math/test/test.hpp>
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#include <mathlib/math/filter/LowPassFilter2p.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 proportional-derivative controller.
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* @link http://en.wikipedia.org/wiki/PID_controller
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*/
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class __EXPORT BlockPD: public SuperBlock
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{
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public:
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// methods
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BlockPD(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_derivative(this, "D"),
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_kP(this, "P"),
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_kD(this, "D")
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{}
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virtual ~BlockPD() = default;
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float update(float input)
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{
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return getKP() * input +
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getKD() * getDerivative().update(input);
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}
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// accessors
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float getKP() { return _kP.get(); }
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float getKD() { return _kD.get(); }
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BlockDerivative &getDerivative() { return _derivative; }
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private:
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BlockDerivative _derivative;
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control::BlockParamFloat _kP;
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control::BlockParamFloat _kD;
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};
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} // namespace control
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