BlockLowPass2.cpp

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

#include <math.h>
#include <float.h>

#include "blocks.hpp"

namespace control
{

float BlockLowPass2::update(float input)
{
    if (!PX4_ISFINITE(getState())) {
        setState(input);
    }

    if (fabsf(_lp.get_cutoff_freq() - getFCutParam()) > FLT_EPSILON) {
        _lp.set_cutoff_frequency(_fs, getFCutParam());
    }

    _state = _lp.apply(input);
    return _state;
}

} // namespace control