PX4 Firmware
PX4 Autopilot Software http://px4.io
BlockHighPass.hpp
Go to the documentation of this file.
1 /****************************************************************************
2  *
3  * Copyright (C) 2012 PX4 Development Team. All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions
7  * are met:
8  *
9  * 1. Redistributions of source code must retain the above copyright
10  * notice, this list of conditions and the following disclaimer.
11  * 2. Redistributions in binary form must reproduce the above copyright
12  * notice, this list of conditions and the following disclaimer in
13  * the documentation and/or other materials provided with the
14  * distribution.
15  * 3. Neither the name PX4 nor the names of its contributors may be
16  * used to endorse or promote products derived from this software
17  * without specific prior written permission.
18  *
19  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26  * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  *
32  ****************************************************************************/
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 high pass filter as described here:
60  * http://en.wikipedia.org/wiki/High-pass_filter.
61  */
63 {
64 public:
65 // methods
66  BlockHighPass(SuperBlock *parent, const char *name) :
67  Block(parent, name),
68  _u(0),
69  _y(0),
70  _fCut(this, "") // only one parameter, no need to name
71  {}
72  virtual ~BlockHighPass() = default;
73  float update(float input);
74 // accessors
75  float getU() {return _u;}
76  float getY() {return _y;}
77  float getFCut() {return _fCut.get();}
78  void setU(float u) {_u = u;}
79  void setY(float y) {_y = y;}
80 protected:
81 // attributes
82  float _u; /**< previous input */
83  float _y; /**< previous output */
84  control::BlockParamFloat _fCut; /**< cut-off frequency, Hz */
85 };
86 
87 } // namespace control
BlockHighPass(SuperBlock *parent, const char *name)
control::BlockParamFloat _fCut
cut-off frequency, Hz
Definition: I2C.hpp:51
A high pass filter as described here: http://en.wikipedia.org/wiki/High-pass_filter.
Controller library code.
float _y
previous output
Controller library code.
Controller library code.
float _u
previous input
const char * name
Definition: tests_main.c:58