/****************************************************************************
 *
 *   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
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/**
 * @file blocks.h
 *
 * Controller library code
 */

#pragma once

#include <px4_platform_common/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
{
/**
 * 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() = default;
	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
	control::BlockParamFloat _trim;
	BlockLimit _limit;
	float _val;
};

} // namespace control
