controllib split blocks into separate files

src/lib/controllib/BlockDelay.hpp

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <px4_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
+{
+
+template<class Type, size_t M, size_t N, size_t LEN>
+class __EXPORT BlockDelay: public Block
+{
+public:
+// methods
+	BlockDelay(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_h(),
+		_index(0),
+		_delay(-1)
+	{
+	};
+	virtual ~BlockDelay() {};
+	matrix::Matrix<Type, M, N> update(const matrix::Matrix<Type, M, N> &u)
+	{
+		// store current value
+		_h[_index] = u;
+
+		// delay starts at zero, then increases to LEN
+		_delay += 1;
+
+		if (_delay > (LEN - 1)) {
+			_delay = LEN - 1;
+		}
+
+		// compute position of delayed value
+		int j = _index - _delay;
+
+		if (j < 0) {
+			j += LEN;
+		}
+
+		// increment storage position
+		_index += 1;
+
+		if (_index > (LEN - 1)) {
+			_index  = 0;
+		}
+
+		// get delayed value
+		return _h[j];
+	}
+	matrix::Matrix<Type, M, N> get(size_t delay)
+	{
+		int j = _index - delay;
+
+		if (j < 0) { j += LEN; }
+
+		return _h[j];
+	}
+private:
+// attributes
+	matrix::Matrix<Type, M, N> _h[LEN];
+	size_t _index;
+	int _delay;
+};
+
+} // namespace control

src/lib/controllib/blocks.cpp → src/lib/controllib/BlockDerivative.cpp

@@ -38,92 +38,13 @@
  */
 
 #include <math.h>
-#include <stdio.h>
 #include <float.h>
 
 #include "blocks.hpp"
 
-#define ASSERT_CL(T) if (!(T)) { printf("FAIL\n"); return -1; }
-
 namespace control
 {
 
-float BlockLimit::update(float input)
-{
-	if (input > getMax()) {
-		input = _max.get();
-
-	} else if (input < getMin()) {
-		input = getMin();
-	}
-
-	return input;
-}
-
-float BlockLimitSym::update(float input)
-{
-	if (input > getMax()) {
-		input = _max.get();
-
-	} else if (input < -getMax()) {
-		input = -getMax();
-	}
-
-	return input;
-}
-
-float BlockLowPass::update(float input)
-{
-	if (!PX4_ISFINITE(getState())) {
-		setState(input);
-	}
-
-	float b = 2 * float(M_PI) * getFCut() * getDt();
-	float a = b / (1 + b);
-	setState(a * input + (1 - a)*getState());
-	return getState();
-}
-
-
-float BlockHighPass::update(float input)
-{
-	float b = 2 * float(M_PI) * getFCut() * getDt();
-	float a = 1 / (1 + b);
-	setY(a * (getY() + input - getU()));
-	setU(input);
-	return getY();
-}
-
-float BlockLowPass2::update(float input)
-{
-	if (!PX4_ISFINITE(getState())) {
-		setState(input);
-	}
-
-	if (fabsf(_lp.get_cutoff_freq() - getFCutParam()) > FLT_EPSILON) {
-		_lp.set_cutoff_frequency(_fs, getFCutParam());
-	}
-
-	_state = _lp.apply(input);
-	return _state;
-}
-
-float BlockIntegral::update(float input)
-{
-	// trapezoidal integration
-	setY(_limit.update(getY() + input * getDt()));
-	return getY();
-}
-
-float BlockIntegralTrap::update(float input)
-{
-	// trapezoidal integration
-	setY(_limit.update(getY() +
-			   (getU() + input) / 2.0f * getDt()));
-	setU(input);
-	return getY();
-}
-
 float BlockDerivative::update(float input)
 {
 	float output;

src/lib/controllib/BlockDerivative.hpp

@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include "BlockLowPass.hpp"
+
+#include <px4_defines.h>
+#include <math.h>
+
+#include "block/Block.hpp"
+#include "block/BlockParam.hpp"
+
+#include "matrix/math.hpp"
+
+namespace control
+{
+
+/**
+ * A simple derivative approximation.
+ * This uses the previous and current input.
+ * This has a built in low pass filter.
+ * @see LowPass
+ */
+class __EXPORT BlockDerivative : public SuperBlock
+{
+public:
+// methods
+	BlockDerivative(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_u(0),
+		_initialized(false),
+		_lowPass(this, "LP")
+	{};
+	virtual ~BlockDerivative() {};
+
+	/**
+	 * Update the state and get current derivative
+	 *
+	 * This call updates the state and gets the current
+	 * derivative. As the derivative is only valid
+	 * on the second call to update, it will return
+	 * no change (0) on the first. To get a closer
+	 * estimate of the derivative on the first call,
+	 * call setU() one time step before using the
+	 * return value of update().
+	 *
+	 * @param input the variable to calculate the derivative of
+	 * @return the current derivative
+	 */
+	float update(float input);
+// accessors
+	void setU(float u) {_u = u;}
+	float getU() {return _u;}
+	float getLP() {return _lowPass.getFCut();}
+	float getO() { return _lowPass.getState(); }
+protected:
+// attributes
+	float _u; /**< previous input */
+	bool _initialized;
+	BlockLowPass _lowPass; /**< low pass filter */
+};
+
+} // namespace control

src/lib/controllib/BlockHighPass.cpp

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.cpp
+ *
+ * Controller library code
+ */
+
+#include <math.h>
+#include <float.h>
+
+#include "blocks.hpp"
+
+namespace control
+{
+
+float BlockHighPass::update(float input)
+{
+	float b = 2 * float(M_PI) * getFCut() * getDt();
+	float a = 1 / (1 + b);
+	setY(a * (getY() + input - getU()));
+	setU(input);
+	return getY();
+}
+
+} // namespace control