pid.h
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	#ifndef __PID_H
	#define __PID_H

	#include "../main.h"

	/** @defgroup PID Lib / PID regulator
	* @brief Proportionnal-integral-derivative regulator with integrator
	* saturation capability.
	*
	* First, instantiate a pid_Pid structure (e.g. "pid_Pid pid;"), then
	* initialize it once with pid_Init(). Then, every time a new command needs to
	* be computed (typically when a new measurement arrives), call pid_Step().
	*
	* @addtogroup PID
	* @{
	*/

	/**
	*@brief PID regulator structure
	*/
	typedef struct
	{
	float32_t kp, ///< Proportional coefficient.
	ki, ///< Integral coefficient. Disabled if negative or zero.
	kd, ///< Derivative coefficient.
	arw, ///< Max value of the integrator ("anti-reset windup"). Disabled if negative or zero.
	previousErr, ///< Error (current-target) at the previous timestep, for derivative computation.
	integrator, ///< Integrator value for the integral part of the PID.
	command, ///< Output command computed by the PID regulator.
	feedforward; ///< Feedforward coefficient.
	} pid_Pid;

	void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd,
	float32_t arw, float32_t feedforward);
	float32_t pid_Step(pid_Pid *pid, float32_t current, float32_t target, float32_t dt);

	/**
	* @}
	*/

	#endif