Initial commit

Source/Control/Inc/pid.h

@@ -0,0 +1,26 @@
+#ifndef PID_H
+#define PID_H
+
+#include "stm32g431xx.h"
+
+typedef struct
+{
+  float kp;
+  float ki;
+  float kd;
+  
+  float integral;
+  float prev_error;
+} pid_t;
+
+typedef struct
+{
+  float roll;
+  float pitch;
+  float yaw;
+} control_channels_t;
+
+float pid_update(pid_t* pid, float error, float gyro_rate, float dt);
+
+
+#endif