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Diffstat (limited to 'src/modules/controllib/blocks.hpp')
-rw-r--r-- | src/modules/controllib/blocks.hpp | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp index 66e929038..37d7832b3 100644 --- a/src/modules/controllib/blocks.hpp +++ b/src/modules/controllib/blocks.hpp @@ -238,9 +238,25 @@ public: 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;} @@ -249,6 +265,7 @@ public: protected: // attributes float _u; /**< previous input */ + bool _initialized; BlockLowPass _lowPass; /**< low pass filter */ }; |