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/**
 * @file ecl_yaw_controller.h
 * Definition of a simple orthogonal coordinated turn yaw PID controller.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Thomas Gubler <thomasgubler@gmail.com>
 *
 * Acknowledgements:
 *
 *   The control design is based on a design
 *   by Paul Riseborough and Andrew Tridgell, 2013,
 *   which in turn is based on initial work of
 *   Jonathan Challinger, 2012.
 */
#ifndef ECL_YAW_CONTROLLER_H
#define ECL_YAW_CONTROLLER_H

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

#include "ecl_controller.h"

class __EXPORT ECL_YawController :
	public ECL_Controller
{
public:
	ECL_YawController();

	~ECL_YawController();

	float control_attitude(const struct ECL_ControlData &ctl_data);

	float control_bodyrate(const struct ECL_ControlData &ctl_data);

	/* Additional setters */
	void set_coordinated_min_speed(float coordinated_min_speed)
	{
		_coordinated_min_speed = coordinated_min_speed;
	}

	void set_coordinated_method(int32_t coordinated_method)
	{
		_coordinated_method = coordinated_method;
	}

	enum {
		COORD_METHOD_OPEN = 0,
		COORD_METHOD_CLOSEACC = 1
	};

protected:
	float _coordinated_min_speed;
	float _max_rate;

	int32_t _coordinated_method;

	float control_bodyrate_impl(const struct ECL_ControlData &ctl_data);

	float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);

	float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);

};

#endif // ECL_YAW_CONTROLLER_H