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/**
 * @file ecl_roll_controller.h
 * Definition of a simple orthogonal roll 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_ROLL_CONTROLLER_H
#define ECL_ROLL_CONTROLLER_H

#include "ecl_controller.h"

class ECL_RollController :
	public ECL_Controller
{
public:
	ECL_RollController() = default;
	~ECL_RollController() = default;

	float control_attitude(const float dt, const ECL_ControlData &ctl_data) override;
	float control_euler_rate(const float dt, const ECL_ControlData &ctl_data) override;
	float control_bodyrate(const float dt, const ECL_ControlData &ctl_data) override;
};

#endif // ECL_ROLL_CONTROLLER_H
