// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

/// @file	ACM_PI.cpp
/// @brief	Generic PI algorithm

#include <math.h>

#include "APM_PI.h"

const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = {
	AP_GROUPINFO("P",    APM_PI, _kp),
	AP_GROUPINFO("I",    APM_PI, _ki),
	AP_GROUPINFO("IMAX", APM_PI, _imax),
	AP_GROUPEND
};

int32_t APM_PI::get_p(int32_t error)
{
	return (float)error * _kp;
}

int32_t APM_PI::get_i(int32_t error, float dt)
{
	if(dt != 0){
		_integrator += ((float)error * _ki) * dt;

		if (_integrator < -_imax) {
			_integrator = -_imax;
		} else if (_integrator > _imax) {
			_integrator = _imax;
		}
	}
	return _integrator;
}

int32_t APM_PI::get_pi(int32_t error, float dt)
{
	return get_p(error) + get_i(error, dt);
}

void
APM_PI::reset_I()
{
	_integrator = 0;
}

void
APM_PI::load_gains()
{
	_kp.load();
	_ki.load();
	_imax.load();
}

void
APM_PI::save_gains()
{
	_kp.save();
	_ki.save();
	_imax.save();
}