3 files changed, 54 insertions, 37 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
index f01ee0355..799fc2fb9 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
@@ -166,19 +166,19 @@ protected:
 	double lat, lon;                   	/**< lat, lon radians */
 	float alt;                   		/**< altitude, meters */
 	// parameters
-	control::BlockParam<float> _vGyro;      /**< gyro process noise */
-	control::BlockParam<float> _vAccel;     /**< accelerometer process noise  */
-	control::BlockParam<float> _rMag;       /**< magnetometer measurement noise  */
-	control::BlockParam<float> _rGpsVel;    /**< gps velocity measurement noise */
-	control::BlockParam<float> _rGpsPos;    /**< gps position measurement noise */
-	control::BlockParam<float> _rGpsAlt;    /**< gps altitude measurement noise */
-	control::BlockParam<float> _rPressAlt;  /**< press altitude measurement noise */
-	control::BlockParam<float> _rAccel;     /**< accelerometer measurement noise */
-	control::BlockParam<float> _magDip;     /**< magnetic inclination with level */
-	control::BlockParam<float> _magDec;     /**< magnetic declination, clockwise rotation */
-	control::BlockParam<float> _g;          /**< gravitational constant */
-	control::BlockParam<float> _faultPos;   /**< fault detection threshold for position */
-	control::BlockParam<float> _faultAtt;   /**< fault detection threshold for attitude */
+	control::BlockParamFloat _vGyro;      /**< gyro process noise */
+	control::BlockParamFloat _vAccel;     /**< accelerometer process noise  */
+	control::BlockParamFloat _rMag;       /**< magnetometer measurement noise  */
+	control::BlockParamFloat _rGpsVel;    /**< gps velocity measurement noise */
+	control::BlockParamFloat _rGpsPos;    /**< gps position measurement noise */
+	control::BlockParamFloat _rGpsAlt;    /**< gps altitude measurement noise */
+	control::BlockParamFloat _rPressAlt;  /**< press altitude measurement noise */
+	control::BlockParamFloat _rAccel;     /**< accelerometer measurement noise */
+	control::BlockParamFloat _magDip;     /**< magnetic inclination with level */
+	control::BlockParamFloat _magDec;     /**< magnetic declination, clockwise rotation */
+	control::BlockParamFloat _g;          /**< gravitational constant */
+	control::BlockParamFloat _faultPos;   /**< fault detection threshold for position */
+	control::BlockParamFloat _faultAtt;   /**< fault detection threshold for attitude */
 	// status
 	bool _attitudeInitialized;
 	bool _positionInitialized;
diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp
index 58a9bfc0d..36bc8c24b 100644
--- a/src/modules/controllib/block/BlockParam.hpp
+++ b/src/modules/controllib/block/BlockParam.hpp
@@ -69,22 +69,39 @@ protected:
 /**
  * Parameters that are tied to blocks for updating and nameing.
  */
-template<class T>
-class __EXPORT BlockParam : public BlockParamBase
+
+class __EXPORT BlockParamFloat : public BlockParamBase
+{
+public:
+	BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) :
+		BlockParamBase(block, name, parent_prefix),
+		_val() {
+		update();
+	}
+	float get() { return _val; }
+	void set(float val) { _val = val; }
+	void update() {
+		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
+	}
+protected:
+	float _val;
+};
+
+class __EXPORT BlockParamInt : public BlockParamBase
 {
 public:
-	BlockParam(Block *block, const char *name, bool parent_prefix=true) :
+	BlockParamInt(Block *block, const char *name, bool parent_prefix=true) :
 		BlockParamBase(block, name, parent_prefix),
 		_val() {
 		update();
 	}
-	T get() { return _val; }
-	void set(T val) { _val = val; }
+	int get() { return _val; }
+	void set(int val) { _val = val; }
 	void update() {
 		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
 	}
 protected:
-	T _val;
+	int _val;
 };
 
 } // namespace control
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
index fefe99702..66e929038 100644
--- a/src/modules/controllib/blocks.hpp
+++ b/src/modules/controllib/blocks.hpp
@@ -74,8 +74,8 @@ public:
 	float getMax() { return _max.get(); }
 protected:
 // attributes
-	BlockParam<float> _min;
-	BlockParam<float> _max;
+	control::BlockParamFloat _min;
+	control::BlockParamFloat _max;
 };
 
 int __EXPORT blockLimitTest();
@@ -99,7 +99,7 @@ public:
 	float getMax() { return _max.get(); }
 protected:
 // attributes
-	BlockParam<float> _max;
+	control::BlockParamFloat _max;
 };
 
 int __EXPORT blockLimitSymTest();
@@ -126,7 +126,7 @@ public:
 protected:
 // attributes
 	float _state;
-	BlockParam<float> _fCut;
+	control::BlockParamFloat _fCut;
 };
 
 int __EXPORT blockLowPassTest();
@@ -157,7 +157,7 @@ protected:
 // attributes
 	float _u; /**< previous input */
 	float _y; /**< previous output */
-	BlockParam<float> _fCut; /**< cut-off frequency, Hz */
+	control::BlockParamFloat _fCut; /**< cut-off frequency, Hz */
 };
 
 int __EXPORT blockHighPassTest();
@@ -273,7 +273,7 @@ public:
 // accessors
 	float getKP() { return _kP.get(); }
 protected:
-	BlockParam<float> _kP;
+	control::BlockParamFloat _kP;
 };
 
 int __EXPORT blockPTest();
@@ -303,8 +303,8 @@ public:
 	BlockIntegral &getIntegral() { return _integral; }
 private:
 	BlockIntegral _integral;
-	BlockParam<float> _kP;
-	BlockParam<float> _kI;
+	control::BlockParamFloat _kP;
+	control::BlockParamFloat _kI;
 };
 
 int __EXPORT blockPITest();
@@ -334,8 +334,8 @@ public:
 	BlockDerivative &getDerivative() { return _derivative; }
 private:
 	BlockDerivative _derivative;
-	BlockParam<float> _kP;
-	BlockParam<float> _kD;
+	control::BlockParamFloat _kP;
+	control::BlockParamFloat _kD;
 };
 
 int __EXPORT blockPDTest();
@@ -372,9 +372,9 @@ private:
 // attributes
 	BlockIntegral _integral;
 	BlockDerivative _derivative;
-	BlockParam<float> _kP;
-	BlockParam<float> _kI;
-	BlockParam<float> _kD;
+	control::BlockParamFloat _kP;
+	control::BlockParamFloat _kI;
+	control::BlockParamFloat _kD;
 };
 
 int __EXPORT blockPIDTest();
@@ -404,7 +404,7 @@ public:
 	float get() { return _val; }
 private:
 // attributes
-	BlockParam<float> _trim;
+	control::BlockParamFloat _trim;
 	BlockLimit _limit;
 	float _val;
 };
@@ -439,8 +439,8 @@ public:
 	float getMax() { return _max.get(); }
 private:
 // attributes
-	BlockParam<float> _min;
-	BlockParam<float> _max;
+	control::BlockParamFloat _min;
+	control::BlockParamFloat _max;
 };
 
 int __EXPORT blockRandUniformTest();
@@ -486,8 +486,8 @@ public:
 	float getStdDev() { return _stdDev.get(); }
 private:
 // attributes
-	BlockParam<float> _mean;
-	BlockParam<float> _stdDev;
+	control::BlockParamFloat _mean;
+	control::BlockParamFloat _stdDev;
 };
 
 int __EXPORT blockRandGaussTest();