BlockLowPass2.hpp
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/****************************************************************************
*
* 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
{
/**
* A 2nd order low pass filter block which uses the default px4 2nd order low pass filter
*/
class __EXPORT BlockLowPass2 : public Block
{
public:
// methods
BlockLowPass2(SuperBlock *parent, const char *name, float sample_freq) :
Block(parent, name),
_state(0.0 / 0.0 /* initialize to invalid val, force into is_finite() check on first call */),
_fCut(this, ""), // only one parameter, no need to name
_fs(sample_freq),
_lp(_fs, _fCut.get())
{}
virtual ~BlockLowPass2() = default;
float update(float input);
// accessors
float getState() { return _state; }
float getFCutParam() { return _fCut.get(); }
void setState(float state) { _state = _lp.reset(state); }
protected:
// attributes
float _state;
control::BlockParamFloat _fCut;
float _fs;
math::LowPassFilter2p _lp;
};
} // namespace control