PX4 Firmware
PX4 Autopilot Software http://px4.io
BlockLimitSym.cpp
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.cpp
36  *
37  * Controller library code
38  */
39 
40 #include <math.h>
41 #include <float.h>
42 
43 #include "blocks.hpp"
44 
45 namespace control
46 {
47 
48 float BlockLimitSym::update(float input)
49 {
50  if (input > getMax()) {
51  input = _max.get();
52 
53  } else if (input < -getMax()) {
54  input = -getMax();
55  }
56 
57  return input;
58 }
59 
60 } // namespace control
control::BlockLimitSym::update
float update(float input)
Definition: BlockLimitSym.cpp:48
control::BlockLimitSym::_max
control::BlockParamFloat _max
Definition: BlockLimitSym.hpp:77
blocks.hpp
Controller library code.