ardupilot/libraries/AC_PID/AC_PI.h

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#pragma once
/*
Generic PI for systems like heater control, no filtering
*/
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
class AC_PI {
public:
// Constructor
AC_PI(float initial_p, float initial_i, float initial_imax);
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CLASS_NO_COPY(AC_PI);
// update controller
float update(float measurement, float target, float dt);
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
float get_P() const {
return output_P;
}
float get_I() const {
return integrator;
}
protected:
AP_Float kP;
AP_Float kI;
AP_Float imax;
float integrator;
float output_P;
};