BlockP.hpp

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/**
 * @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 controller.
 * @link http://en.wikipedia.org/wiki/PID_controller
 */
class __EXPORT BlockP: public Block
{
public:
// methods
    BlockP(SuperBlock *parent, const char *name) :
        Block(parent, name),
        _kP(this, "") // only one param, no need to name
    {}
    virtual ~BlockP() = default;
    float update(float input)
    {
        return getKP() * input;
    }
// accessors
    float getKP() { return _kP.get(); }
protected:
    control::BlockParamFloat _kP;
};

} // namespace control