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98 lines
3.0 KiB
C++
98 lines
3.0 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_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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template<class Type, size_t M>
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class __EXPORT BlockLowPassVector: public Block
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{
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public:
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// methods
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BlockLowPassVector(SuperBlock *parent,
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const char *name) :
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Block(parent, name),
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_state(),
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_fCut(this, "") // only one parameter, no need to name
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{
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for (size_t i = 0; i < M; i++) {
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_state(i) = 0.0f / 0.0f;
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}
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}
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virtual ~BlockLowPassVector() {}
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matrix::Vector<Type, M> update(const matrix::Matrix<Type, M, 1> &input)
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{
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for (size_t i = 0; i < M; i++) {
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if (!PX4_ISFINITE(getState()(i))) {
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setState(input);
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}
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}
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float b = 2 * float(M_PI) * getFCut() * getDt();
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float a = b / (1 + b);
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setState(input * a + getState() * (1 - a));
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return getState();
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}
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// accessors
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matrix::Vector<Type, M> getState() { return _state; }
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float getFCut() { return _fCut.get(); }
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void setState(const matrix::Vector<Type, M> &state) { _state = state; }
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private:
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// attributes
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matrix::Vector<Type, M> _state;
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control::BlockParamFloat _fCut;
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};
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} // namespace control
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