1 files changed, 0 insertions, 494 deletions
diff --git a/apps/controllib/blocks.hpp b/apps/controllib/blocks.hpp
deleted file mode 100644
index 7a785d12e..000000000
--- a/apps/controllib/blocks.hpp
+++ /dev/null
@@ -1,494 +0,0 @@
-/****************************************************************************
- *
- *   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 <assert.h>
-#include <time.h>
-#include <stdlib.h>
-#include <mathlib/math/test/test.hpp>
-
-#include "block/Block.hpp"
-#include "block/BlockParam.hpp"
-
-namespace control
-{
-
-int __EXPORT basicBlocksTest();
-
-/**
- * A limiter/ saturation.
- * The output of update is the input, bounded
- * by min/max.
- */
-class __EXPORT BlockLimit : public Block
-{
-public:
-// methods
-	BlockLimit(SuperBlock *parent, const char *name) :
-		Block(parent, name),
-		_min(this, "MIN"),
-		_max(this, "MAX")
-	{};
-	virtual ~BlockLimit() {};
-	float update(float input);
-// accessors
-	float getMin() { return _min.get(); }
-	float getMax() { return _max.get(); }
-protected:
-// attributes
-	BlockParam<float> _min;
-	BlockParam<float> _max;
-};
-
-int __EXPORT blockLimitTest();
-
-/**
- * A symmetric limiter/ saturation.
- * Same as limiter but with only a max, is used for
- * upper limit of +max, and lower limit of -max
- */
-class __EXPORT BlockLimitSym : public Block
-{
-public:
-// methods
-	BlockLimitSym(SuperBlock *parent, const char *name) :
-		Block(parent, name),
-		_max(this, "MAX")
-	{};
-	virtual ~BlockLimitSym() {};
-	float update(float input);
-// accessors
-	float getMax() { return _max.get(); }
-protected:
-// attributes
-	BlockParam<float> _max;
-};
-
-int __EXPORT blockLimitSymTest();
-
-/**
- * A low pass filter as described here:
- * http://en.wikipedia.org/wiki/Low-pass_filter.
- */
-class __EXPORT BlockLowPass : public Block
-{
-public:
-// methods
-	BlockLowPass(SuperBlock *parent, const char *name) :
-		Block(parent, name),
-		_state(0),
-		_fCut(this, "") // only one parameter, no need to name
-	{};
-	virtual ~BlockLowPass() {};
-	float update(float input);
-// accessors
-	float getState() { return _state; }
-	float getFCut() { return _fCut.get(); }
-	void setState(float state) { _state = state; }
-protected:
-// attributes
-	float _state;
-	BlockParam<float> _fCut;
-};
-
-int __EXPORT blockLowPassTest();
-
-/**
- * A high pass filter as described here:
- * http://en.wikipedia.org/wiki/High-pass_filter.
- */
-class __EXPORT BlockHighPass : public Block
-{
-public:
-// methods
-	BlockHighPass(SuperBlock *parent, const char *name) :
-		Block(parent, name),
-		_u(0),
-		_y(0),
-		_fCut(this, "") // only one parameter, no need to name
-	{};
-	virtual ~BlockHighPass() {};
-	float update(float input);
-// accessors
-	float getU() {return _u;}
-	float getY() {return _y;}
-	float getFCut() {return _fCut.get();}
-	void setU(float u) {_u = u;}
-	void setY(float y) {_y = y;}
-protected:
-// attributes
-	float _u; /**< previous input */
-	float _y; /**< previous output */
-	BlockParam<float> _fCut; /**< cut-off frequency, Hz */
-};
-
-int __EXPORT blockHighPassTest();
-
-/**
- * A rectangular integrator.
- * A limiter is built into the class to bound the
- * integral's internal state. This is important
- * for windup protection.
- * @see Limit
- */
-class __EXPORT BlockIntegral: public SuperBlock
-{
-public:
-// methods
-	BlockIntegral(SuperBlock *parent, const char *name) :
-		SuperBlock(parent, name),
-		_y(0),
-		_limit(this, "") {};
-	virtual ~BlockIntegral() {};
-	float update(float input);
-// accessors
-	float getY() {return _y;}
-	float getMax() {return _limit.getMax();}
-	void setY(float y) {_y = y;}
-protected:
-// attributes
-	float _y; /**< previous output */
-	BlockLimitSym _limit; /**< limiter */
-};
-
-int __EXPORT blockIntegralTest();
-
-/**
- * A trapezoidal integrator.
- * http://en.wikipedia.org/wiki/Trapezoidal_rule
- * A limiter is built into the class to bound the
- * integral's internal state. This is important
- * for windup protection.
- * @see Limit
- */
-class __EXPORT BlockIntegralTrap : public SuperBlock
-{
-public:
-// methods
-	BlockIntegralTrap(SuperBlock *parent, const char *name) :
-		SuperBlock(parent, name),
-		_u(0),
-		_y(0),
-		_limit(this, "") {};
-	virtual ~BlockIntegralTrap() {};
-	float update(float input);
-// accessors
-	float getU() {return _u;}
-	float getY() {return _y;}
-	float getMax() {return _limit.getMax();}
-	void setU(float u) {_u = u;}
-	void setY(float y) {_y = y;}
-protected:
-// attributes
-	float _u; /**< previous input */
-	float _y; /**< previous output */
-	BlockLimitSym _limit; /**< limiter */
-};
-
-int __EXPORT blockIntegralTrapTest();
-
-/**
- * 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),
-		_lowPass(this, "LP")
-	{};
-	virtual ~BlockDerivative() {};
-	float update(float input);
-// accessors
-	void setU(float u) {_u = u;}
-	float getU() {return _u;}
-	float getLP() {return _lowPass.getFCut();}
-protected:
-// attributes
-	float _u; /**< previous input */
-	BlockLowPass _lowPass; /**< low pass filter */
-};
-
-int __EXPORT blockDerivativeTest();
-
-/**
- * A proportional controller.
- * @link http://en.wikipedia.org/wiki/PID_controller
- */
-class __EXPORT BlockP: public Block
-{
-public:
-// methods
-	BlockP(SuperBlock *parent, const char *name) :
-		Block(parent, name),
-		_kP(this, "") // only one param, no need to name
-	{};
-	virtual ~BlockP() {};
-	float update(float input) {
-		return getKP() * input;
-	}
-// accessors
-	float getKP() { return _kP.get(); }
-protected:
-	BlockParam<float> _kP;
-};
-
-int __EXPORT blockPTest();
-
-/**
- * A proportional-integral controller.
- * @link http://en.wikipedia.org/wiki/PID_controller
- */
-class __EXPORT BlockPI: public SuperBlock
-{
-public:
-// methods
-	BlockPI(SuperBlock *parent, const char *name) :
-		SuperBlock(parent, name),
-		_integral(this, "I"),
-		_kP(this, "P"),
-		_kI(this, "I")
-	{};
-	virtual ~BlockPI() {};
-	float update(float input) {
-		return getKP() * input +
-		       getKI() * getIntegral().update(input);
-	}
-// accessors
-	float getKP() { return _kP.get(); }
-	float getKI() { return _kI.get(); }
-	BlockIntegral &getIntegral() { return _integral; }
-private:
-	BlockIntegral _integral;
-	BlockParam<float> _kP;
-	BlockParam<float> _kI;
-};
-
-int __EXPORT blockPITest();
-
-/**
- * A proportional-derivative controller.
- * @link http://en.wikipedia.org/wiki/PID_controller
- */
-class __EXPORT BlockPD: public SuperBlock
-{
-public:
-// methods
-	BlockPD(SuperBlock *parent, const char *name) :
-		SuperBlock(parent, name),
-		_derivative(this, "D"),
-		_kP(this, "P"),
-		_kD(this, "D")
-	{};
-	virtual ~BlockPD() {};
-	float update(float input) {
-		return getKP() * input +
-		       getKD() * getDerivative().update(input);
-	}
-// accessors
-	float getKP() { return _kP.get(); }
-	float getKD() { return _kD.get(); }
-	BlockDerivative &getDerivative() { return _derivative; }
-private:
-	BlockDerivative _derivative;
-	BlockParam<float> _kP;
-	BlockParam<float> _kD;
-};
-
-int __EXPORT blockPDTest();
-
-/**
- * A proportional-integral-derivative controller.
- * @link http://en.wikipedia.org/wiki/PID_controller
- */
-class __EXPORT BlockPID: public SuperBlock
-{
-public:
-// methods
-	BlockPID(SuperBlock *parent, const char *name) :
-		SuperBlock(parent, name),
-		_integral(this, "I"),
-		_derivative(this, "D"),
-		_kP(this, "P"),
-		_kI(this, "I"),
-		_kD(this, "D")
-	{};
-	virtual ~BlockPID() {};
-	float update(float input) {
-		return getKP() * input +
-		       getKI() * getIntegral().update(input) +
-		       getKD() * getDerivative().update(input);
-	}
-// accessors
-	float getKP() { return _kP.get(); }
-	float getKI() { return _kI.get(); }
-	float getKD() { return _kD.get(); }
-	BlockIntegral &getIntegral() { return _integral; }
-	BlockDerivative &getDerivative() { return _derivative; }
-private:
-// attributes
-	BlockIntegral _integral;
-	BlockDerivative _derivative;
-	BlockParam<float> _kP;
-	BlockParam<float> _kI;
-	BlockParam<float> _kD;
-};
-
-int __EXPORT blockPIDTest();
-
-/**
- * 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() {};
-	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
-	BlockParam<float> _trim;
-	BlockLimit _limit;
-	float _val;
-};
-
-int __EXPORT blockOutputTest();
-
-/**
- * A uniform random number generator
- */
-class __EXPORT BlockRandUniform: public Block
-{
-public:
-// methods
-	BlockRandUniform(SuperBlock *parent,
-			 const char *name) :
-		Block(parent, name),
-		_min(this, "MIN"),
-		_max(this, "MAX") {
-		// seed should be initialized somewhere
-		// in main program for all calls to rand
-		// XXX currently in nuttx if you seed to 0, rand breaks
-	};
-	virtual ~BlockRandUniform() {};
-	float update() {
-		static float rand_max = MAX_RAND;
-		float rand_val = rand();
-		float bounds = getMax() - getMin();
-		return getMin() + (rand_val * bounds) / rand_max;
-	}
-// accessors
-	float getMin() { return _min.get(); }
-	float getMax() { return _max.get(); }
-private:
-// attributes
-	BlockParam<float> _min;
-	BlockParam<float> _max;
-};
-
-int __EXPORT blockRandUniformTest();
-
-class __EXPORT BlockRandGauss: public Block
-{
-public:
-// methods
-	BlockRandGauss(SuperBlock *parent,
-		       const char *name) :
-		Block(parent, name),
-		_mean(this, "MEAN"),
-		_stdDev(this, "DEV") {
-		// seed should be initialized somewhere
-		// in main program for all calls to rand
-		// XXX currently in nuttx if you seed to 0, rand breaks
-	};
-	virtual ~BlockRandGauss() {};
-	float update() {
-		static float V1, V2, S;
-		static int phase = 0;
-		float X;
-
-		if (phase == 0) {
-			do {
-				float U1 = (float)rand() / MAX_RAND;
-				float U2 = (float)rand() / MAX_RAND;
-				V1 = 2 * U1 - 1;
-				V2 = 2 * U2 - 1;
-				S = V1 * V1 + V2 * V2;
-			} while (S >= 1 || fabsf(S) < 1e-8f);
-
-			X = V1 * float(sqrt(-2 * float(log(S)) / S));
-
-		} else
-			X = V2 * float(sqrt(-2 * float(log(S)) / S));
-
-		phase = 1 - phase;
-		return X * getStdDev() + getMean();
-	}
-// accessors
-	float getMean() { return _mean.get(); }
-	float getStdDev() { return _stdDev.get(); }
-private:
-// attributes
-	BlockParam<float> _mean;
-	BlockParam<float> _stdDev;
-};
-
-int __EXPORT blockRandGaussTest();
-
-} // namespace control