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/**
 * @file BlockPD.hpp
 *
 * 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 proportional-derivative controller.
 * @link http://en.wikipedia.org/wiki/PID_controller
 */
class __EXPORT BlockPD: public SuperBlock
{
public:
// methods
	BlockPD(SuperBlock *parent, const char *name) :
		SuperBlock(parent, name),
		_derivative(this, "D"),
		_kP(this, "P"),
		_kD(this, "D")
	{}
	virtual ~BlockPD() = default;
	float update(float input)
	{
		return getKP() * input +
		       getKD() * getDerivative().update(input);
	}
// accessors
	float getKP() { return _kP.get(); }
	float getKD() { return _kD.get(); }
	BlockDerivative &getDerivative() { return _derivative; }
private:
	BlockDerivative _derivative;
	control::BlockParamFloat _kP;
	control::BlockParamFloat _kD;
};

} // namespace control