/*
   Paparazzi mcu0 $Id: pid.h,v 1.1 2011-01-18 12:48:39 moellmer Exp $

   Copyright (C) 2003  Pascal Brisset, Antoine Drouin

   This file is part of paparazzi.

   paparazzi is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2, or (at your option)
   any later version.

   paparazzi is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with paparazzi; see the file COPYING.  If not, write to
   the Free Software Foundation, 59 Temple Place - Suite 330,
   Boston, MA 02111-1307, USA.

*/

#ifndef PID_H
#define PID_H

#include <inttypes.h>

#define NORM_RAD_ANGLE(x) { \
    while (x > M_PI) x -= 2 * M_PI; \
    while (x < -M_PI) x += 2 * M_PI; \
  }

extern float desired_roll;
extern float max_roll;
extern float desired_pitch;
extern float roll_pgain;
extern float pitch_pgain;
extern float pitch_of_roll;
void roll_pitch_pid_run( void );


extern float course_pgain;
extern float desired_course;
void course_pid_run( void );


extern const float climb_pgain;
extern const float climb_igain;
extern float climb_sum_err;
extern float desired_climb, pre_climb;
extern int16_t desired_gaz, desired_aileron, desired_elevator;

extern float pitch_of_vz_pgain;
extern float pitch_of_vz;

void climb_pid_run( void );
void altitude_pid_run( void );

#endif /* PID_H */