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/**
 * @file ecl_yaw_controller.h
 * Definition of a simple orthogonal coordinated turn yaw PID controller.
 *
 */
#ifndef ECL_YAW_CONTROLLER_H
#define ECL_YAW_CONTROLLER_H

#include <stdbool.h>
#include <stdint.h>

class __EXPORT ECL_YawController
{
public:
	ECL_YawController();

	float control(float roll, float yaw_rate, float accel_y, float scaler = 1.0f, bool lock_integrator = false,
		      float airspeed_min = 0, float airspeed_max = 0, float aspeed = (0.0f / 0.0f));

	void reset_integrator();

	void set_k_side(float k_a) {
		_k_side = k_a;
	}
	void set_k_i(float k_i) {
		_k_i = k_i;
	}
	void set_k_d(float k_d) {
		_k_d = k_d;
	}
	void set_k_roll_ff(float k_roll_ff) {
		_k_roll_ff = k_roll_ff;
	}
	void set_integrator_max(float max) {
		_integrator_max = max;
	}

private:
	uint64_t _last_run;

	float _k_side;
	float _k_i;
	float _k_d;
	float _k_roll_ff;
	float _integrator_max;

	float _last_error;
	float _last_output;
	float _last_rate_hp_out;
	float _last_rate_hp_in;
	float _k_d_last;
	float _integrator;

};

#endif // ECL_YAW_CONTROLLER_H