2010-12-26 20:59:17 -04:00
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< title > ArduPilot Libraries: PID Class Reference< / title >
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< a href = "#pub-types" > Public Types< / a > |
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< h1 > PID Class Reference< / h1 > < / div >
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<!-- doxytag: class="PID" -->
< p > Object managing one < a class = "el" href = "class_p_i_d.html" title = "Object managing one PID control." > PID< / a > control.
< a href = "#_details" > More...< / a > < / p >
< p > < code > #include < < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > > < / code > < / p >
< div class = "dynheader" >
Collaboration diagram for PID:< / div >
< div class = "dyncontent" >
< div class = "center" > < img src = "class_p_i_d__coll__graph.png" border = "0" usemap = "#_p_i_d_coll__map" alt = "Collaboration graph" / > < / div >
< map name = "_p_i_d_coll__map" id = "_p_i_d_coll__map" >
< area shape = "rect" id = "node2" href = "class_a_p___e_e_p_r_o_m_b.html" title = "Object for reading and writing to the EEPROM." alt = "" coords = "45,101,152,131" / > < / map >
< center > < span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend< / a > ]< / span > < / center > < / div >
< p > < a href = "class_p_i_d-members.html" > List of all members.< / a > < / p >
< table class = "memberdecls" >
< tr > < td colspan = "2" > < h2 > < a name = "pub-types" > < / a >
Public Types< / h2 > < / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > enum < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e" > storage_t< / a > { < a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89eaaf3ae4177b842acac49ae8340f62a915" > STORE_OFF< / a > ,
< a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89ea298eec9e3b8f13f44adbb491bcfb0d9a" > STORE_EEPROM_FLOAT< / a > ,
< a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89ea6f777cc5fe5af30de1ab385cd9354e12" > STORE_EEPROM_UINT16< / a >
}< / td > < / tr >
< tr > < td colspan = "2" > < h2 > < a name = "pub-methods" > < / a >
Public Member Functions< / h2 > < / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a0311b6f7de348499ce24e53ba353514a" > PID< / a > ()< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a28a69de98b67fbf39417bee5dbe17db2" > PID< / a > (uint16_t address, < a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e" > storage_t< / a > storage=STORE_EEPROM_UINT16)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#af42f6af709ea5f484bcb92f43b041a1d" > PID< / a > (float *gain_array)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > long < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a485849289cc63b5e8c62f546912e461a" > get_pid< / a > (int32_t error, uint16_t dt, float scaler=1.0)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > void < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#ab5b56004fca57d7bd2a580a743775b74" > reset_I< / a > ()< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > void < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a3e8b0cc1984ac60db07cf55f45b71485" > load_gains< / a > ()< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > void < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a7fd5ea68386a5fdff983144decf552e6" > save_gains< / a > ()< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > float < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a10c0e53dc0b52ebb69bba0c8ac1db0aa" > get_integrator< / a > ()< / td > < / tr >
< tr > < td colspan = "2" > < div class = "groupHeader" > parameter accessors< / div > < / td > < / tr >
< tr > < td colspan = "2" > < div class = "groupText" > < p > < a class = "anchor" id = "amgrp47f497b4757490ed399ca3240ec92a26" > < / a > < / p >
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< tr > < td class = "memItemLeft" align = "right" valign = "top" > float < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a2dd3c39db6d37f4717bd0c492dc375fc" > kP< / a > ()< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > float < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a7f502cac90ea0dfcf82c15df85c8c2e2" > kI< / a > ()< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > float < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#ada7ca5447359196169af5141acdd767a" > kD< / a > ()< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > float < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#ae95642565b4b814ad8ef7f121168f749" > imax< / a > ()< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > void < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a6a455ccfa83bca050ee21a41e5d26604" > kP< / a > (const float v)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > void < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#aac61f98c9ae29d0321cfe004923ba793" > kI< / a > (const float v)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > void < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#aca5be548cd47219d246e9509bd606bd1" > kD< / a > (const float v)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > void < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a63b9060a9e086d5d1faecf53764cc579" > imax< / a > (const float v)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > void < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#a1116e2ccdf958659f3575b8aaa2f1c36" > address< / a > (const uint16_t v)< / td > < / tr >
< tr > < td colspan = "2" > < h2 > < a name = "pub-attribs" > < / a >
Public Attributes< / h2 > < / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > enum < a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e" > PID::storage_t< / a > < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "class_p_i_d.html#af403c0149432f89b6f1f2117007b2f9f" > _storage< / a > < / td > < / tr >
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< hr / > < a name = "_details" > < / a > < h2 > Detailed Description< / h2 >
< p > Object managing one < a class = "el" href = "class_p_i_d.html" title = "Object managing one PID control." > PID< / a > control. < / p >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00014" > 14< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< hr / > < h2 > Member Enumeration Documentation< / h2 >
< a class = "anchor" id = "ab205c894ccd87f7f97c5d87c137df89e" > < / a > <!-- doxytag: member="PID::storage_t" ref="ab205c894ccd87f7f97c5d87c137df89e" args="" -->
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< td class = "memname" > enum < a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e" > PID::storage_t< / a > < / td >
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< dl > < dt > < b > Enumerator: < / b > < / dt > < dd > < table border = "0" cellspacing = "2" cellpadding = "0" >
< tr > < td valign = "top" > < em > < a class = "anchor" id = "ab205c894ccd87f7f97c5d87c137df89eaaf3ae4177b842acac49ae8340f62a915" > < / a > <!-- doxytag: member="STORE_OFF" ref="ab205c894ccd87f7f97c5d87c137df89eaaf3ae4177b842acac49ae8340f62a915" args="" --> STORE_OFF< / em > < / td > < td >
< / td > < / tr >
< tr > < td valign = "top" > < em > < a class = "anchor" id = "ab205c894ccd87f7f97c5d87c137df89ea298eec9e3b8f13f44adbb491bcfb0d9a" > < / a > <!-- doxytag: member="STORE_EEPROM_FLOAT" ref="ab205c894ccd87f7f97c5d87c137df89ea298eec9e3b8f13f44adbb491bcfb0d9a" args="" --> STORE_EEPROM_FLOAT< / em > < / td > < td >
< / td > < / tr >
< tr > < td valign = "top" > < em > < a class = "anchor" id = "ab205c894ccd87f7f97c5d87c137df89ea6f777cc5fe5af30de1ab385cd9354e12" > < / a > <!-- doxytag: member="STORE_EEPROM_UINT16" ref="ab205c894ccd87f7f97c5d87c137df89ea6f777cc5fe5af30de1ab385cd9354e12" args="" --> STORE_EEPROM_UINT16< / em > < / td > < td >
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< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00018" > 18< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
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< hr / > < h2 > Constructor & Destructor Documentation< / h2 >
< a class = "anchor" id = "a0311b6f7de348499ce24e53ba353514a" > < / a > <!-- doxytag: member="PID::PID" ref="a0311b6f7de348499ce24e53ba353514a" args="()" -->
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< td class = "memname" > PID::PID < / td >
< td > (< / td >
< td class = "paramname" > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
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< p > Constructor< / p >
< p > A < a class = "el" href = "class_p_i_d.html" title = "Object managing one PID control." > PID< / a > constructed in this fashion does not support save/restore. Gains are managed internally, and must be read/written using the accessor functions. < / p >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00031" > 31< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
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< a class = "anchor" id = "a28a69de98b67fbf39417bee5dbe17db2" > < / a > <!-- doxytag: member="PID::PID" ref="a28a69de98b67fbf39417bee5dbe17db2" args="(uint16_t address, storage_t storage=STORE_EEPROM_UINT16)" -->
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< td class = "memname" > PID::PID < / td >
< td > (< / td >
< td class = "paramtype" > uint16_t < / td >
< td class = "paramname" > < em > address< / em > , < / td >
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< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > < a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e" > storage_t< / a > < / td >
< td class = "paramname" > < em > storage< / em > = < code > STORE_EEPROM_UINT16< / code > < / td > < td > < / td >
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< p > Constructor< / p >
< p > The < a class = "el" href = "class_p_i_d.html" title = "Object managing one PID control." > PID< / a > will manage gains internally, and the load/save functions will use 16 bytes of EEPROM storage to store gain values.< / p >
< dl > < dt > < b > Parameters:< / b > < / dt > < dd >
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< tr > < td valign = "top" > < / td > < td valign = "top" > < em > address< / em > < / td > < td > EEPROM base address at which < a class = "el" href = "class_p_i_d.html" title = "Object managing one PID control." > PID< / a > parameters are stored. < / td > < / tr >
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< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00045" > 45< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
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< a class = "anchor" id = "af42f6af709ea5f484bcb92f43b041a1d" > < / a > <!-- doxytag: member="PID::PID" ref="af42f6af709ea5f484bcb92f43b041a1d" args="(float *gain_array)" -->
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< td class = "memname" > PID::PID < / td >
< td > (< / td >
< td class = "paramtype" > float * < / td >
< td class = "paramname" > < em > gain_array< / em > < / td >
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< p > Constructor< / p >
< p > Gain values for the < a class = "el" href = "class_p_i_d.html" title = "Object managing one PID control." > PID< / a > are managed externally; load/save are a NOP.< / p >
< dl > < dt > < b > Parameters:< / b > < / dt > < dd >
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< tr > < td valign = "top" > < / td > < td valign = "top" > < em > gain_array< / em > < / td > < td > Address of an array of float values. The array is used as kP, kI, kD and imax respectively. < / td > < / tr >
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< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00062" > 62< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
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< hr / > < h2 > Member Function Documentation< / h2 >
< a class = "anchor" id = "a1116e2ccdf958659f3575b8aaa2f1c36" > < / a > <!-- doxytag: member="PID::address" ref="a1116e2ccdf958659f3575b8aaa2f1c36" args="(const uint16_t v)" -->
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< td class = "memname" > void PID::address < / td >
< td > (< / td >
< td class = "paramtype" > const uint16_t < / td >
< td class = "paramname" > < em > v< / em > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
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< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00111" > 111< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
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< a class = "anchor" id = "a10c0e53dc0b52ebb69bba0c8ac1db0aa" > < / a > <!-- doxytag: member="PID::get_integrator" ref="a10c0e53dc0b52ebb69bba0c8ac1db0aa" args="()" -->
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< td class = "memname" > float PID::get_integrator < / td >
< td > (< / td >
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< td > ) < / td >
< td > < code > [inline]< / code > < / td >
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< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00118" > 118< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
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< a class = "anchor" id = "a485849289cc63b5e8c62f546912e461a" > < / a > <!-- doxytag: member="PID::get_pid" ref="a485849289cc63b5e8c62f546912e461a" args="(int32_t error, uint16_t dt, float scaler=1.0)" -->
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< td class = "memname" > long PID::get_pid < / td >
< td > (< / td >
< td class = "paramtype" > int32_t < / td >
< td class = "paramname" > < em > error< / em > , < / td >
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< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16_t < / td >
< td class = "paramname" > < em > dt< / em > , < / td >
< / tr >
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< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > float < / td >
< td class = "paramname" > < em > scaler< / em > = < code > 1.0< / code > < / td > < td > < / td >
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< p > Iterate the < a class = "el" href = "class_p_i_d.html" title = "Object managing one PID control." > PID< / a > , return the new control value< / p >
< p > Positive error produces positive output.< / p >
< dl > < dt > < b > Parameters:< / b > < / dt > < dd >
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< tr > < td valign = "top" > < / td > < td valign = "top" > < em > error< / em > < / td > < td > The measured error value < / td > < / tr >
< tr > < td valign = "top" > < / td > < td valign = "top" > < em > dt< / em > < / td > < td > The time delta in milliseconds (note that update interval cannot be more than 65.535 seconds due to limited range of the data type). < / td > < / tr >
< tr > < td valign = "top" > < / td > < td valign = "top" > < em > scaler< / em > < / td > < td > An arbitrary scale factor< / td > < / tr >
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< dl class = "return" > < dt > < b > Returns:< / b > < / dt > < dd > The updated control output. < / dd > < / dl >
< p > Definition at line < a class = "el" href = "_p_i_d_8cpp_source.html#l00018" > 18< / a > of file < a class = "el" href = "_p_i_d_8cpp_source.html" > PID.cpp< / a > .< / p >
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< a class = "anchor" id = "ae95642565b4b814ad8ef7f121168f749" > < / a > <!-- doxytag: member="PID::imax" ref="ae95642565b4b814ad8ef7f121168f749" args="()" -->
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< tr >
< td class = "memname" > float PID::imax < / td >
< td > (< / td >
< td class = "paramname" > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00104" > 104< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "a63b9060a9e086d5d1faecf53764cc579" > < / a > <!-- doxytag: member="PID::imax" ref="a63b9060a9e086d5d1faecf53764cc579" args="(const float v)" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void PID::imax < / td >
< td > (< / td >
< td class = "paramtype" > const float < / td >
< td class = "paramname" > < em > v< / em > < / td >
< td > ) < / td >
< td > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Definition at line < a class = "el" href = "_p_i_d_8cpp_source.html#l00061" > 61< / a > of file < a class = "el" href = "_p_i_d_8cpp_source.html" > PID.cpp< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "aca5be548cd47219d246e9509bd606bd1" > < / a > <!-- doxytag: member="PID::kD" ref="aca5be548cd47219d246e9509bd606bd1" args="(const float v)" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void PID::kD < / td >
< td > (< / td >
< td class = "paramtype" > const float < / td >
< td class = "paramname" > < em > v< / em > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00108" > 108< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "ada7ca5447359196169af5141acdd767a" > < / a > <!-- doxytag: member="PID::kD" ref="ada7ca5447359196169af5141acdd767a" args="()" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > float PID::kD < / td >
< td > (< / td >
< td class = "paramname" > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00103" > 103< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "aac61f98c9ae29d0321cfe004923ba793" > < / a > <!-- doxytag: member="PID::kI" ref="aac61f98c9ae29d0321cfe004923ba793" args="(const float v)" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void PID::kI < / td >
< td > (< / td >
< td class = "paramtype" > const float < / td >
< td class = "paramname" > < em > v< / em > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00107" > 107< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "a7f502cac90ea0dfcf82c15df85c8c2e2" > < / a > <!-- doxytag: member="PID::kI" ref="a7f502cac90ea0dfcf82c15df85c8c2e2" args="()" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > float PID::kI < / td >
< td > (< / td >
< td class = "paramname" > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00102" > 102< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "a2dd3c39db6d37f4717bd0c492dc375fc" > < / a > <!-- doxytag: member="PID::kP" ref="a2dd3c39db6d37f4717bd0c492dc375fc" args="()" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > float PID::kP < / td >
< td > (< / td >
< td class = "paramname" > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00101" > 101< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "a6a455ccfa83bca050ee21a41e5d26604" > < / a > <!-- doxytag: member="PID::kP" ref="a6a455ccfa83bca050ee21a41e5d26604" args="(const float v)" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void PID::kP < / td >
< td > (< / td >
< td class = "paramtype" > const float < / td >
< td class = "paramname" > < em > v< / em > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00106" > 106< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "a3e8b0cc1984ac60db07cf55f45b71485" > < / a > <!-- doxytag: member="PID::load_gains" ref="a3e8b0cc1984ac60db07cf55f45b71485" args="()" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void PID::load_gains < / td >
< td > (< / td >
< td class = "paramname" > < / td >
< td > ) < / td >
< td > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Load gain properties < / p >
< p > Definition at line < a class = "el" href = "_p_i_d_8cpp_source.html#l00067" > 67< / a > of file < a class = "el" href = "_p_i_d_8cpp_source.html" > PID.cpp< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "ab5b56004fca57d7bd2a580a743775b74" > < / a > <!-- doxytag: member="PID::reset_I" ref="ab5b56004fca57d7bd2a580a743775b74" args="()" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void PID::reset_I < / td >
< td > (< / td >
< td class = "paramname" > < / td >
< td > ) < / td >
< td > < code > [inline]< / code > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Reset the < a class = "el" href = "class_p_i_d.html" title = "Object managing one PID control." > PID< / a > integrator < / p >
< p > Definition at line < a class = "el" href = "_p_i_d_8h_source.html#l00085" > 85< / a > of file < a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > .< / p >
< / div >
< / div >
< a class = "anchor" id = "a7fd5ea68386a5fdff983144decf552e6" > < / a > <!-- doxytag: member="PID::save_gains" ref="a7fd5ea68386a5fdff983144decf552e6" args="()" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void PID::save_gains < / td >
< td > (< / td >
< td class = "paramname" > < / td >
< td > ) < / td >
< td > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< p > Save gain properties < / p >
< p > Definition at line < a class = "el" href = "_p_i_d_8cpp_source.html#l00097" > 97< / a > of file < a class = "el" href = "_p_i_d_8cpp_source.html" > PID.cpp< / a > .< / p >
< / div >
< / div >
< hr / > < h2 > Member Data Documentation< / h2 >
< a class = "anchor" id = "af403c0149432f89b6f1f2117007b2f9f" > < / a > <!-- doxytag: member="PID::_storage" ref="af403c0149432f89b6f1f2117007b2f9f" args="" -->
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > enum < a class = "el" href = "class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e" > PID::storage_t< / a > < a class = "el" href = "class_p_i_d.html#af403c0149432f89b6f1f2117007b2f9f" > PID::_storage< / a > < / td >
< / tr >
< / table >
< / div >
< div class = "memdoc" >
< / div >
< / div >
< hr / > The documentation for this class was generated from the following files:< ul >
< li > /home/jgoppert/Projects/ap/libraries/PID/< a class = "el" href = "_p_i_d_8h_source.html" > PID.h< / a > < / li >
< li > /home/jgoppert/Projects/ap/libraries/PID/< a class = "el" href = "_p_i_d_8cpp_source.html" > PID.cpp< / a > < / li >
< / ul >
< / div >
2010-12-26 22:59:34 -04:00
< hr class = "footer" / > < address class = "footer" > < small > Generated on Sun Dec 26 2010 21:58:35 for ArduPilot Libraries by
2010-12-26 20:59:17 -04:00
< a href = "http://www.doxygen.org/index.html" >
< img class = "footer" src = "doxygen.png" alt = "doxygen" / > < / a > 1.7.1 < / small > < / address >
< / body >
< / html >
