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/// @file	LowPassFilter.h
/// @brief	A class to implement a second order low pass filter
/// Author: Leonard Hall <LeonardTHall@gmail.com>
/// Adapted for PX4 by Andrew Tridgell

#pragma once

namespace math
{
class __EXPORT LowPassFilter2p
{
public:
	// constructor
	LowPassFilter2p(float sample_freq, float cutoff_freq) :
		_cutoff_freq(cutoff_freq),
		_a1(0.0f),
		_a2(0.0f),
		_b0(0.0f),
		_b1(0.0f),
		_b2(0.0f),
		_delay_element_1(0.0f),
		_delay_element_2(0.0f)
	{
		// set initial parameters
		set_cutoff_frequency(sample_freq, cutoff_freq);
	}

	/**
	 * Change filter parameters
	 */
	void set_cutoff_frequency(float sample_freq, float cutoff_freq);

	/**
	 * Add a new raw value to the filter
	 *
	 * @return retrieve the filtered result
	 */
	float apply(float sample);

	/**
	 * Return the cutoff frequency
	 */
	float get_cutoff_freq() const
	{
		return _cutoff_freq;
	}

	/**
	 * Reset the filter state to this value
	 */
	float reset(float sample);

private:
	float           _cutoff_freq;
	float           _a1;
	float           _a2;
	float           _b0;
	float           _b1;
	float           _b2;
	float           _delay_element_1;        // buffered sample -1
	float           _delay_element_2;        // buffered sample -2
};

} // namespace math
