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 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
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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
{

/**
 * 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() = default;
	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 */
	control::BlockParamFloat _fCut; /**< cut-off frequency, Hz */
};

} // namespace control
