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