#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