// -*- 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"

long
APM_PI::get_pi(int32_t error, uint16_t dt)
{
	float output		= 0;
 	float delta_time	= (float)dt / 1000.0;

	// Compute proportional component
	output += error * _kp;

	// Compute integral component if time has elapsed
	_integrator += (error * _ki) * delta_time;

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

	output += _integrator;

	return output;
}

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

void
APM_PI::load_gains()
{
    _group.load();
}

void
APM_PI::save_gains()
{
    _group.save();
}
