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PX4 Autopilot Software http://px4.io
BlockPID.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-derivative controller.
60  * @link http://en.wikipedia.org/wiki/PID_controller
61  */
63 {
64 public:
65 // methods
66  BlockPID(SuperBlock *parent, const char *name) :
67  SuperBlock(parent, name),
68  _integral(this, "I"),
69  _derivative(this, "D"),
70  _kP(this, "P"),
71  _kI(this, "I"),
72  _kD(this, "D")
73  {}
74  virtual ~BlockPID() = default;
75  float update(float input)
76  {
77  return getKP() * input +
78  getKI() * getIntegral().update(input) +
79  getKD() * getDerivative().update(input);
80  }
81 // accessors
82  float getKP() { return _kP.get(); }
83  float getKI() { return _kI.get(); }
84  float getKD() { return _kD.get(); }
85  BlockIntegral &getIntegral() { return _integral; }
86  BlockDerivative &getDerivative() { return _derivative; }
87 private:
88 // attributes
94 };
95 
96 } // namespace control
BlockDerivative & getDerivative()
Definition: BlockPID.hpp:86
Definition: I2C.hpp:51
control::BlockParamFloat _kD
Definition: BlockPID.hpp:93
Controller library code.
BlockDerivative _derivative
Definition: BlockPID.hpp:90
float update(float input)
Definition: BlockPID.hpp:75
BlockIntegral _integral
Definition: BlockPID.hpp:89
Controller library code.
A rectangular integrator.
Controller library code.
A proportional-integral-derivative controller.
Definition: BlockPID.hpp:62
const char * name
Definition: tests_main.c:58
control::BlockParamFloat _kP
Definition: BlockPID.hpp:91
A simple derivative approximation.
control::BlockParamFloat _kI
Definition: BlockPID.hpp:92
BlockPID(SuperBlock *parent, const char *name)
Definition: BlockPID.hpp:66
BlockIntegral & getIntegral()
Definition: BlockPID.hpp:85