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 * modification, are permitted provided that the following conditions
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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 limiter/ saturation.
 * The output of update is the input, bounded
 * by min/max.
 */
class __EXPORT BlockLimit : public Block
{
public:
// methods
	BlockLimit(SuperBlock *parent, const char *name) :
		Block(parent, name),
		_min(this, "MIN"),
		_max(this, "MAX")
	{}
	virtual ~BlockLimit() = default;
	float update(float input);
// accessors
	float getMin() { return _min.get(); }
	float getMax() { return _max.get(); }
protected:
// attributes
	control::BlockParamFloat _min;
	control::BlockParamFloat _max;
};

} // namespace control