ardupilot/libraries/APM_PI/APM_PI.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file ACM_PI.cpp
/// @brief Generic PI algorithm
#include <math.h>
#include "APM_PI.h"
long
APM_PI::get_pi(int32_t error, float dt)
{
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_integrator += ((float)error * _ki) * dt;
_integrator = min(_integrator, (float)_imax);
_integrator = max(_integrator, (float)-_imax);
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return (float)error * _kp + _integrator;
}
void
APM_PI::reset_I()
{
_integrator = 0;
}
void
APM_PI::load_gains()
{
_group.load();
}
void
APM_PI::save_gains()
{
_group.save();
}