////////////////////////////////////////////////////////////////////////////////
// Drift Mode
////////////////////////////////////////////////////////////////////////////////

#define SPEEDGAIN 14.0


// The function call for managing the flight mode drift
static void
get_roll_pitch_drift()
{
}



static void
get_yaw_drift()
{
	static float breaker = 0.0;
	// convert pilot input to lean angles
	// moved to Yaw since it is called before get_roll_pitch_drift();
	get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);

	// Grab inertial velocity
	Vector3f vel = inertial_nav.get_velocity();

	// rotate roll, pitch input from north facing to vehicle's perspective
	float roll_vel =  vel.y * cos_yaw - vel.x * sin_yaw; // body roll vel
	float pitch_vel = vel.y * sin_yaw + vel.x * cos_yaw; // body pitch vel

	float pitch_vel2 = min(fabs(pitch_vel), 800);
	// simple gain scheduling for yaw input
	get_yaw_rate_stabilized_ef((float)(control_roll/2) * (1.0 - (pitch_vel2 / 2400.0)));

	roll_vel = constrain_float(roll_vel, -322, 322);
	pitch_vel = constrain_float(pitch_vel, -322, 322);

	// always limit roll
	get_stabilize_roll(roll_vel * -SPEEDGAIN);

	if(control_pitch == 0){
		// .14/ (.03 * 100) = 4.6 seconds till full breaking
		breaker+= .03;
		breaker = min(breaker, SPEEDGAIN);
		// If we let go of sticks, bring us to a stop
		get_stabilize_pitch(pitch_vel * breaker);
	}else{
		breaker = 0.0;
		get_stabilize_pitch(control_pitch);
	}
}