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/**
 * @file ecl_pitch_controller.cpp
 * Implementation of a simple orthogonal pitch PID controller.
 *
 */

#include "ecl_pitch_controller.h"

ECL_PitchController::ECL_PitchController() :
	_last_run(0),
	_last_output(0.0f),
	_integrator(0.0f),
	_rate_error(0.0f),
	_desired_rate(0.0f)
{
}

float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitch_rate, float roll, float scaler,
				   bool lock_integrator, float airspeed_min, float airspeed_max, float aspeed)
{
	/* get the usual dt estimate */
	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
	_last_run = ecl_absolute_time();

	float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;

	return 0.0f;
}

void ECL_PitchController::reset_integrator()
{
	_integrator = 0.0f;
}