PX4 Firmware
PX4 Autopilot Software http://px4.io
BlockIntegralTrap.cpp
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33 
34 /**
35  * @file blocks.cpp
36  *
37  * Controller library code
38  */
39 
40 #include <math.h>
41 #include <float.h>
42 
43 #include "blocks.hpp"
44 
45 namespace control
46 {
47 
48 float BlockIntegralTrap::update(float input)
49 {
50  // trapezoidal integration
52  (getU() + input) / 2.0f * getDt()));
53  setU(input);
54  return getY();
55 }
56 
57 } // namespace control
float update(float input)
BlockLimitSym _limit
limiter
float getDt()
Definition: Block.hpp:78
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
Definition: integration.cpp:8
Controller library code.