PSatDController.h

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#ifndef PSATDCONTROLLER_H_
#define PSATDCONTROLLER_H_
#include <labust/control/PIDBase.h>
void PSatD_tune(PIDBase* self, float w, float aAngle, float surge);
void PSatD_dStep(PIDBase* self, float Ts, float derivative);
inline void PSatD_step(PIDBase* self, float Ts)
{
        PSatD_dStep(self,
                        Ts,
                        ((self->desired - self->state) - self->lastError)/Ts);
}

/* PSatDCONTROLLER_H_ */
#endif