#ifndef __MY_OBS_H
#define __MY_OBS_H

#include "crdnt.h"
#include "mathtool.h"
#include "observer.h"
#include "typedefine.h"

#define OBS_SPD_PLL_M            10    // Flux observer m coefficient
#define OBS_SPD_PLL_BANDWIDTH_HZ 200   // Huawei      // Flux observer PLL bandwidth
#define OBS_FLUX_PI_DAMPRATIO    10    // unit:0.1, Flux observer PI regulator dampratio
#define OBS_FLUX_PI_CROSSFREQ_HZ 10    // unit:Hz, Flux observer PI regulator crossfrequency

#define FTBC_HZ 15000  //Hz

#if 0 //Volans

#define MOTOR_RS 1070        // 0.1mohm
#define MOTOR_LQ 18400       // 0.01uH
#define MOTOR_LD 15700       // 0.01uH
#define MOTOR_FLUX_WB 17035  // 0.001mW

#elif 0 //Pegasi

#define MOTOR_RS 655         // 0.1mohm
#define MOTOR_LQ 16250       // 0.01uH
#define MOTOR_LD 14250       // 0.01uH  
#define MOTOR_FLUX_WB 11491  // 0.01mWb

#elif 1 //Pegasi Plus

#define MOTOR_RS 720         // 0.1mohm
#define MOTOR_LQ 25000       // 0.01uH
#define MOTOR_LD 22000       // 0.01uH  
#define MOTOR_FLUX_WB 18023  // 0.01mWb

#endif

extern void my_ObsInit(void);
extern void my_ObsCal(SLONG Ualpha, SLONG Ubeta, SLONG Ialpha, SLONG Ibeta, SLONG Vdc, OBSERVER_OUT *Out);

#endif