BlockPID.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-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