/******************************************************************************/
/* Copyright 1993 MBARI                                                       */
/******************************************************************************/
/* Summary  : Floating Point Filter Module Definitions                        */
/* Filename : filterFP.h                                                      */
/* Author   : Janice Tarrant                                                  */
/* Project  : Tiburon                                                         */
/* Version  : Version 1.0                                                     */
/* Created  : 06/29/93                                                        */
/* Modified :                                                                 */
/* Archived :                                                                 */
/******************************************************************************/
/* Modification History :                                                     */
/* $Header: filterFP.h,v 1.1 97/12/04 15:28:14 oreilly Exp $
 * $Log:        filterFP.h,v $
 * Revision 1.1  97/12/04  15:28:14  15:28:14  oreilly (Thomas C. O'Reilly)
 * Initial revision
 *
 *
 */
/******************************************************************************/

#ifndef ROV_CONTROL_FILTER_H
#define ROV_CONTROL_FILTER_H

#define MAX_X_RATE        5             /* approx. max x rate (m/s)           */
#define MAX_Y_RATE        5             /* approx. max y rate (m/s)           */
#define MAX_DEPTH_RATE    5             /* approx. max depth rate (m/s)       */
#define MAX_ALTITUDE_RATE 5             /* approx. max altitude rate (m/s)    */
#define IIR_RAW           2
#define IIR_FILT          2

                                        /* function prototypes                */
#ifdef __STDC__
Void  initIIRFilter(Flt32 raw[], Flt32 filtered[], Nat16 *gain, Nat16 maxValue);
Flt32 IIRFilterFP(Flt32 newRaw, Flt32 raw[], Flt32 filtered[]);
#endif

#endif