BlockOutput.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
{
/**
 * An output trim/ saturation block
 */
class __EXPORT BlockOutput: public SuperBlock
{
public:
// methods
    BlockOutput(SuperBlock *parent, const char *name) :
        SuperBlock(parent, name),
        _trim(this, "TRIM"),
        _limit(this, ""),
        _val(0)
    {
        update(0);
    }

    virtual ~BlockOutput() = default;
    void update(float input)
    {
        _val = _limit.update(input + getTrim());
    }
// accessors
    float getMin() { return _limit.getMin(); }
    float getMax() { return _limit.getMax(); }
    float getTrim() { return _trim.get(); }
    float get() { return _val; }
private:
// attributes
    control::BlockParamFloat _trim;
    BlockLimit _limit;
    float _val;
};

} // namespace control