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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
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 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
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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
{

template<class Type, size_t M>
class __EXPORT BlockLowPassVector: public Block
{
public:
// methods
	BlockLowPassVector(SuperBlock *parent,
			   const char *name) :
		Block(parent, name),
		_state(),
		_fCut(this, "") // only one parameter, no need to name
	{
		for (size_t i = 0; i < M; i++) {
			_state(i) = 0.0f / 0.0f;
		}
	}
	virtual ~BlockLowPassVector() = default;
	matrix::Vector<Type, M> update(const matrix::Matrix<Type, M, 1> &input)
	{
		for (size_t i = 0; i < M; i++) {
			if (!PX4_ISFINITE(getState()(i))) {
				setState(input);
			}
		}

		float b = 2 * float(M_PI) * getFCut() * getDt();
		float a = b / (1 + b);
		setState(input * a + getState() * (1 - a));
		return getState();
	}
// accessors
	matrix::Vector<Type, M> getState() { return _state; }
	float getFCut() { return _fCut.get(); }
	void setState(const matrix::Vector<Type, M> &state) { _state = state; }
private:
// attributes
	matrix::Vector<Type, M> _state;
	control::BlockParamFloat _fCut;
};

} // namespace control
