#ifndef ATTITUDE_H
#define ATTITUDE_H

#include "quaternion.h"
#include "vector.h"
#include "pid.h"
#include "radio_receiver.h"

typedef struct
{
    Vector3 gyro;
} attitude_t;

static uint8_t imu_update_flag = 0;
static uint8_t pid_update_flag = 0;

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);
void TIM6_DAC_IRQHandler();

#endif