AC_HELI_PID.h

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#pragma once


#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <stdlib.h>
#include <cmath>
#include "AC_PID.h"

#define AC_PID_LEAK_MIN     0.1  // Default I-term Leak Minimum

class AC_HELI_PID : public AC_PID {
public:

    AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff);

    float       get_leaky_i(float leak_rate);

    static const struct AP_Param::GroupInfo        var_info[];

private:
    AP_Float        _leak_min;

    float           _last_requested_rate;       // Requested rate from last iteration, used to calculate rate change of requested rate
};