PX4 Firmware
PX4 Autopilot Software http://px4.io
BlockOutput.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  * An output trim/ saturation block
59  */
61 {
62 public:
63 // methods
64  BlockOutput(SuperBlock *parent, const char *name) :
65  SuperBlock(parent, name),
66  _trim(this, "TRIM"),
67  _limit(this, ""),
68  _val(0)
69  {
70  update(0);
71  }
72 
73  virtual ~BlockOutput() = default;
74  void update(float input)
75  {
76  _val = _limit.update(input + getTrim());
77  }
78 // accessors
79  float getMin() { return _limit.getMin(); }
80  float getMax() { return _limit.getMax(); }
81  float getTrim() { return _trim.get(); }
82  float get() { return _val; }
83 private:
84 // attributes
87  float _val;
88 };
89 
90 } // namespace control
A limiter/ saturation.
Definition: BlockLimit.hpp:63
Definition: I2C.hpp:51
Controller library code.
Controller library code.
An output trim/ saturation block.
Definition: BlockOutput.hpp:60
Controller library code.
control::BlockParamFloat _trim
Definition: BlockOutput.hpp:85
const char * name
Definition: tests_main.c:58
BlockOutput(SuperBlock *parent, const char *name)
Definition: BlockOutput.hpp:64
void update(float input)
Definition: BlockOutput.hpp:74