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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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 *
 * 1. Redistributions of source code must retain the above copyright
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/**
 * @file blocks.h
 *
 * Controller library code
 */

#pragma once

#include <px4_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 uniform random number generator
 */
class __EXPORT BlockRandUniform: public Block
{
public:
// methods
	BlockRandUniform(SuperBlock *parent,
			 const char *name) :
		Block(parent, name),
		_min(this, "MIN"),
		_max(this, "MAX")
	{
		// seed should be initialized somewhere
		// in main program for all calls to rand
		// XXX currently in nuttx if you seed to 0, rand breaks
	};
	virtual ~BlockRandUniform() {};
	float update()
	{
		static float rand_max = RAND_MAX;
		float rand_val = rand();
		float bounds = getMax() - getMin();
		return getMin() + (rand_val * bounds) / rand_max;
	}
// accessors
	float getMin() { return _min.get(); }
	float getMax() { return _max.get(); }
private:
// attributes
	control::BlockParamFloat _min;
	control::BlockParamFloat _max;
};

} // namespace control