AC_HELI_PID.h

#pragma once

/// @file	AC_HELI_PID.h
/// @brief	Helicopter Specific Rate PID algorithm, with EEPROM-backed storage of constants.

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

/// @class	AC_HELI_PID
/// @brief	Heli PID control class
class AC_HELI_PID : public AC_PID {
public:

    /// Constructor for PID controller with EEPROM-backed gain.
    /// Parameters are initialized from defaults or EEPROM at runtime.
    AC_HELI_PID(const AC_PID::Defaults &defaults,  float initial_ilmi);

    CLASS_NO_COPY(AC_HELI_PID);

    /// update_leaky_i - replacement for get_i but output is leaked at leak_rate
    void       update_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
    const float default_ilmi;
};