PX4 Firmware
PX4 Autopilot Software http://px4.io
BlockHighPass.hpp
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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****************************************************************************/
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/**
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* @file blocks.h
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*
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* Controller library code
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*/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <assert.h>
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#include <time.h>
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#include <stdlib.h>
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#include <math.h>
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#include <
mathlib/math/test/test.hpp
>
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#include <
mathlib/math/filter/LowPassFilter2p.hpp
>
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#include "
block/Block.hpp
"
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#include "
block/BlockParam.hpp
"
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#include "
matrix/math.hpp
"
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namespace
control
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{
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/**
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* A high pass filter as described here:
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* http://en.wikipedia.org/wiki/High-pass_filter.
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*/
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class
__EXPORT
BlockHighPass
:
public
Block
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{
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public
:
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// methods
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BlockHighPass
(
SuperBlock
*parent,
const
char
*
name
) :
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Block
(parent, name),
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_u(0),
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_y(0),
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_fCut(this,
""
)
// only one parameter, no need to name
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{}
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virtual
~
BlockHighPass
() =
default
;
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float
update(
float
input);
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// accessors
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float
getU
() {
return
_u;}
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float
getY
() {
return
_y;}
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float
getFCut
() {
return
_fCut.get();}
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void
setU
(
float
u) {_u = u;}
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void
setY
(
float
y) {_y = y;}
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protected
:
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// attributes
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float
_u
;
/**< previous input */
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float
_y
;
/**< previous output */
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control::BlockParamFloat
_fCut
;
/**< cut-off frequency, Hz */
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};
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}
// namespace control
control::BlockHighPass::getU
float getU()
Definition:
BlockHighPass.hpp:75
control::BlockHighPass::BlockHighPass
BlockHighPass(SuperBlock *parent, const char *name)
Definition:
BlockHighPass.hpp:66
control::BlockHighPass::_fCut
control::BlockParamFloat _fCut
cut-off frequency, Hz
Definition:
BlockHighPass.hpp:84
__EXPORT
Definition:
I2C.hpp:51
control::BlockHighPass
A high pass filter as described here: http://en.wikipedia.org/wiki/High-pass_filter.
Definition:
BlockHighPass.hpp:62
test.hpp
Controller library code.
control::BlockParam< float >
control::BlockHighPass::_y
float _y
previous output
Definition:
BlockHighPass.hpp:83
Block.hpp
Controller library code.
control::Block
Definition:
Block.hpp:59
control::SuperBlock
Definition:
Block.hpp:94
math.hpp
control
Definition:
Block.cpp:45
control::BlockHighPass::getY
float getY()
Definition:
BlockHighPass.hpp:76
control::BlockHighPass::setU
void setU(float u)
Definition:
BlockHighPass.hpp:78
BlockParam.hpp
Controller library code.
control::BlockHighPass::setY
void setY(float y)
Definition:
BlockHighPass.hpp:79
LowPassFilter2p.hpp
control::BlockHighPass::_u
float _u
previous input
Definition:
BlockHighPass.hpp:82
name
const char * name
Definition:
tests_main.c:58
control::BlockHighPass::getFCut
float getFCut()
Definition:
BlockHighPass.hpp:77
src
lib
controllib
BlockHighPass.hpp
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