ardupilot/libraries/AC_PID/AC_HELI_PID.h

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#pragma once
/// @file AC_HELI_PID.h
/// @brief Helicopter Specific Rate PID algorithm, with EEPROM-backed storage of constants.
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <stdlib.h>
#include <cmath>
#include "AC_PID.h"
#define AC_PID_LEAK_MIN 0.1 // Default I-term Leak Minimum
/// @class AC_HELI_PID
/// @brief Heli PID control class
class AC_HELI_PID : public AC_PID {
public:
/// Constructor for PID
AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff);
/// get_vff - return Velocity FeedForward Term
float get_vff(float requested_rate);
/// get_leaky_i - replacement for get_i but output is leaded at leak_rate
float get_leaky_i(float leak_rate);
// accessors
float ff() const { return _vff.get(); }
void ff(const float v) { _vff.set(v); }
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _vff;
AP_Float _leak_min;
float _last_requested_rate; // Requested rate from last iteration, used to calculate rate change of requested rate
};