PX4 Firmware
PX4 Autopilot Software http://px4.io
BlockHighPass.cpp
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*
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****************************************************************************/
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/**
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* @file blocks.cpp
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*
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* Controller library code
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*/
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#include <math.h>
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#include <float.h>
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#include "
blocks.hpp
"
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namespace
control
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{
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float
BlockHighPass::update
(
float
input)
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{
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float
b = 2 * float(
M_PI
) *
getFCut
() *
getDt
();
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float
a = 1 / (1 + b);
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setY
(a * (
getY
() + input -
getU
()));
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setU
(input);
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return
getY
();
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}
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}
// namespace control
control::BlockHighPass::getU
float getU()
Definition:
BlockHighPass.hpp:75
control::Block::getDt
float getDt()
Definition:
Block.hpp:78
control
Definition:
Block.cpp:45
control::BlockHighPass::update
float update(float input)
Definition:
BlockHighPass.cpp:48
control::BlockHighPass::getY
float getY()
Definition:
BlockHighPass.hpp:76
control::BlockHighPass::setU
void setU(float u)
Definition:
BlockHighPass.hpp:78
control::BlockHighPass::setY
void setY(float y)
Definition:
BlockHighPass.hpp:79
blocks.hpp
Controller library code.
control::BlockHighPass::getFCut
float getFCut()
Definition:
BlockHighPass.hpp:77
M_PI
#define M_PI
Definition:
gps_helper.cpp:38
src
lib
controllib
BlockHighPass.cpp
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