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diff --git a/src/lib/ecl/attitude_fw/ecl_controller.h b/src/lib/ecl/attitude_fw/ecl_controller.h
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+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ecl_controller.h
+ * Definition of base class for other controllers
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <systemlib/perf_counter.h>
+
+struct ECL_ControlData {
+	float roll;
+	float pitch;
+	float yaw;
+	float roll_rate;
+	float pitch_rate;
+	float yaw_rate;
+	float speed_body_u;
+	float speed_body_v;
+	float speed_body_w;
+	float roll_setpoint;
+	float pitch_setpoint;
+	float yaw_setpoint;
+	float roll_rate_setpoint;
+	float pitch_rate_setpoint;
+	float yaw_rate_setpoint;
+	float airspeed_min;
+	float airspeed_max;
+	float airspeed;
+	float scaler;
+	bool lock_integrator;
+};
+
+class __EXPORT ECL_Controller
+{
+public:
+	ECL_Controller(const char *name);
+
+	~ECL_Controller();
+
+	virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
+	virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0;
+
+	/* Setters */
+	void set_time_constant(float time_constant);
+	void set_k_p(float k_p);
+	void set_k_i(float k_i);
+	void set_k_ff(float k_ff);
+	void set_integrator_max(float max);
+	void set_max_rate(float max_rate);
+
+	/* Getters */
+	float get_rate_error();
+	float get_desired_rate();
+	float get_desired_bodyrate();
+
+	void reset_integrator();
+
+protected:
+	uint64_t _last_run;
+	float _tc;
+	float _k_p;
+	float _k_i;
+	float _k_ff;
+	float _integrator_max;
+	float _max_rate;
+	float _last_output;
+	float _integrator;
+	float _rate_error;
+	float _rate_setpoint;
+	float _bodyrate_setpoint;
+	perf_counter_t _nonfinite_input_perf;
+	static const uint8_t _perf_name_max = 40;
+	char _perf_name[_perf_name_max];
+};