#ifndef _controller_h
#define _controller_h


/* For now, the enums come from commands.h */
#include "commands.h"
#if 0
enum ControllerID {
	ROLL_ID,              // 00 - Roll PID
	PITCH_ID,             // 01 - Pitch PID
	YAW_ID,               // 02 - Yaw PID
	ROLL_RATE_ID,         // 03 - Roll rate PID
	PITCH_RATE_ID,        // 04 - Pitch rate PID
	YAW_RATE_ID,          // 05 - Yaw rate PID
	LOCAL_X_ID,           // 06 - Local X PID
	LOCAL_Y_ID,           // 07 - Local Y PID
	ALT_ID,               // 08 - Altitude PID
};

enum ControllerValueID{
    KP_ID,                 // 00 - P constant
    KI_ID,                 // 01 - I constant
    KD_ID,                 // 02 - D constant
    SP_ID,                 // 03 - Setpoint value
};
#endif

struct controller_message {
	enum ControllerID id;
	enum ControlParamID value_id;
	float value;
};

#endif