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   *   Copyright (c) 2013-2020 Estimation and Control Library (ECL). All rights reserved.
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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 "ecl_controller.h"
  
  class ECL_YawController :
  	public ECL_Controller
  {
  public:
  	ECL_YawController() = default;
  	~ECL_YawController() = 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, float bodyrate_ff) override;
  	float control_bodyrate(const float dt, const ECL_ControlData &ctl_data) override;
  
  protected:
  	float _max_rate{0.0f};
  
  };
  
  #endif // ECL_YAW_CONTROLLER_H
  