BlockPID.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 proportional-integral-derivative controller.
* @link http://en.wikipedia.org/wiki/PID_controller
*/
class __EXPORT BlockPID: public SuperBlock
{
public:
// methods
BlockPID(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_integral(this, "I"),
_derivative(this, "D"),
_kP(this, "P"),
_kI(this, "I"),
_kD(this, "D")
{}
virtual ~BlockPID() = default;
float update(float input)
{
return getKP() * input +
getKI() * getIntegral().update(input) +
getKD() * getDerivative().update(input);
}
// accessors
float getKP() { return _kP.get(); }
float getKI() { return _kI.get(); }
float getKD() { return _kD.get(); }
BlockIntegral &getIntegral() { return _integral; }
BlockDerivative &getDerivative() { return _derivative; }
private:
// attributes
BlockIntegral _integral;
BlockDerivative _derivative;
control::BlockParamFloat _kP;
control::BlockParamFloat _kI;
control::BlockParamFloat _kD;
};
} // namespace control