PX4 Firmware
PX4 Autopilot Software http://px4.io
BlockPI.hpp
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33 
34 /**
35  * @file blocks.h
36  *
37  * Controller library code
38  */
39 
40 #pragma once
41 
42 #include <px4_platform_common/defines.h>
43 #include <assert.h>
44 #include <time.h>
45 #include <stdlib.h>
46 #include <math.h>
49 
50 #include "block/Block.hpp"
51 #include "block/BlockParam.hpp"
52 
53 #include "matrix/math.hpp"
54 
55 namespace control
56 {
57 
58 /**
59  * A proportional-integral controller.
60  * @link http://en.wikipedia.org/wiki/PID_controller
61  */
63 {
64 public:
65 // methods
66  BlockPI(SuperBlock *parent, const char *name) :
67  SuperBlock(parent, name),
68  _integral(this, "I"),
69  _kP(this, "P"),
70  _kI(this, "I")
71  {}
72  virtual ~BlockPI() = default;
73  float update(float input)
74  {
75  return getKP() * input +
76  getKI() * getIntegral().update(input);
77  }
78 // accessors
79  float getKP() { return _kP.get(); }
80  float getKI() { return _kI.get(); }
81  BlockIntegral &getIntegral() { return _integral; }
82 private:
86 };
87 
88 } // namespace control
BlockIntegral _integral
Definition: BlockPI.hpp:83
float getKP()
Definition: BlockPI.hpp:79
Definition: I2C.hpp:51
BlockPI(SuperBlock *parent, const char *name)
Definition: BlockPI.hpp:66
Controller library code.
control::BlockParamFloat _kP
Definition: BlockPI.hpp:84
float getKI()
Definition: BlockPI.hpp:80
Controller library code.
A proportional-integral controller.
Definition: BlockPI.hpp:62
BlockIntegral & getIntegral()
Definition: BlockPI.hpp:81
A rectangular integrator.
Controller library code.
control::BlockParamFloat _kI
Definition: BlockPI.hpp:85
const char * name
Definition: tests_main.c:58
float update(float input)
Definition: BlockPI.hpp:73