Quadrotor

#ifndef _PID_CONTROL_H_

#define _PID_CONTROL_H_

class PID_control

{

  public:

    PID_control(float p_term, float d_term, float i_term, float goal); 

    PID_control(float p_term, float d_term, float i_term); 

    void change_goal(float goal);

    void change_p(float p);

    void change_i(float i);

    void change_d(float d);

    float pid(float input, double time);

  private:

    void reset();

    float k_p;

    float k_i;

    float k_d;

    float set_config;

    float prev_error;

    double prev_time;

    float P_err;

    float I_err;

    float D_err;

};

#endif