#pragma once

#ifndef ATTITUDE_H
#define ATTITUDE_H

#include "Quaternion.h"
#include "Vector.h"
#include "PID.h"
#include "RadioReceiver.h"
#include "IRS.h"

struct attitude_t
{
  Vector3 gyro;
};

void attitude_init(attitude_t* att);

void attitude_controller_update(control_channels_t* control,
                                const rc_channels* rx,
                                const Quaternion* current_q,
                                const Vector3* gyro);

Quaternion rx_to_quaternion(const rc_channels* rx);
float constrain(float x, float min, float max);

#endif