mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 20:07:35 +08:00
Beat Küng
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)
115 lines
3.0 KiB
C++
115 lines
3.0 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_platform_common/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
|
|
{
|
|
|
|
template<class Type, size_t M, size_t N, size_t LEN>
|
|
class __EXPORT BlockDelay: public Block
|
|
{
|
|
public:
|
|
// methods
|
|
BlockDelay(SuperBlock *parent, const char *name) :
|
|
Block(parent, name),
|
|
_h(),
|
|
_index(0),
|
|
_delay(-1)
|
|
{}
|
|
virtual ~BlockDelay() = default;
|
|
matrix::Matrix<Type, M, N> update(const matrix::Matrix<Type, M, N> &u)
|
|
{
|
|
// store current value
|
|
_h[_index] = u;
|
|
|
|
// delay starts at zero, then increases to LEN
|
|
_delay += 1;
|
|
|
|
if (_delay > (int)(LEN - 1)) {
|
|
_delay = LEN - 1;
|
|
}
|
|
|
|
// compute position of delayed value
|
|
int j = _index - _delay;
|
|
|
|
if (j < 0) {
|
|
j += LEN;
|
|
}
|
|
|
|
// increment storage position
|
|
_index += 1;
|
|
|
|
if (_index > (LEN - 1)) {
|
|
_index = 0;
|
|
}
|
|
|
|
// get delayed value
|
|
return _h[j];
|
|
}
|
|
matrix::Matrix<Type, M, N> get(size_t delay)
|
|
{
|
|
int j = _index - delay;
|
|
|
|
if (j < 0) { j += LEN; }
|
|
|
|
return _h[j];
|
|
}
|
|
private:
|
|
// attributes
|
|
matrix::Matrix<Type, M, N> _h[LEN];
|
|
size_t _index;
|
|
int _delay;
|
|
};
|
|
|
|
} // namespace control
|