1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21

#![cfg_attr(not_test, no_std)]

mod body_rate;
pub use body_rate::BodyRateController;

mod lateral_pos;
pub use lateral_pos::LateralPositionController;

mod yaw;
pub use yaw::YawController;

pub mod pid;
pub use pid::PID;

pub mod attitude;

// From `t_rise` and `delta` returns kp and kd
fn pid_config(t_rise: f32, delta: f32) -> (f32, f32) {
    let w = 1. / (1.57 * t_rise);
    (w * w, 2. * delta * w)
}