#define START_TASK      1
#define STOP_TASK       2

struct my_msg_struct {
  int command;
  int order;
  double sampling_period;
};

#define BUF_LEN 5 //
#define RECORDING_SAMPLES 50000 // samples to be recorded
#define NOCONT_SAMPLES 25000 // samples without control
#define WAITING_SAMPLES 25000 // samples without recording
#define ORDER_MAX 40 // maximum order of controller
#define AMP 3.0 // amplitude for disturbance
//#define AMP 0.0 // amplitude for disturbance

#define REFMIC_OFFSET 6.0 // offset voltage of reference output
#define ERRMIC_OFFSET 6.0 // offset voltage of error output

//#define U_MAX 3.00
#define U_MAX 4.00

// HPF(1 rad/s) to cut DC in z and y
#define AF 9.9980001999866674e-01  
#define BF 1.9998000133326669e-04
#define CF -1.0000000000000000e+00
#define DF 1.0000000000000000e+00

#define DIST_INTERVAL 5 // interval step for updating w
//#define DIST_INTERVAL 1 // interval step for updating w

//#define NO_CONTROL // without control case