BlockLimitSym.hpp

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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 symmetric limiter/ saturation.
 * Same as limiter but with only a max, is used for
 * upper limit of +max, and lower limit of -max
 */
class __EXPORT BlockLimitSym : public Block
{
public:
// methods
    BlockLimitSym(SuperBlock *parent, const char *name) :
        Block(parent, name),
        _max(this, "MAX")
    {}
    virtual ~BlockLimitSym() = default;
    float update(float input);
// accessors
    float getMax() { return _max.get(); }
protected:
// attributes
    control::BlockParamFloat _max;
};

} // namespace control