#ifndef __CONTROL_ATTITUDE_H
#define __CONTROL_ATTITUDE_H

#include "control_rate.h"

extern float t_roll_last, t_pitch_last;

#define YAW_RATE_MAX 60 // 航向最大100deg/s

float attitude_pid_ctl_rp(struct pid_method_rpy *method, struct pid_value_rpy *value);
float attitude_pid_ctl_yaw(struct pid_method_rpy *method, struct pid_value_rpy *value);

void get_pilot_desired_lean_angles(short roll_in, short pitch_in);
void get_pilot_desired_yaw_angle_fromrc(short yaw_in, float dt);

float get_yaw_error(float target, float currt);

void get_target_yaw_by_flight_mode(unsigned char, float);

void get_smooth_target_yaw(float argTargetYaw, float dt);

bool set_automode_target_yaw(float yaw_deg);

#endif