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uncrustify libraries/APM_PI/APM_PI.h

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uncrustify 2012-08-16 23:20:38 -07:00 committed by Pat Hickey
parent 72dd47ee56
commit 0aaac4e7db
1 changed files with 78 additions and 62 deletions
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40
libraries/APM_PI/APM_PI.h
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@ -23,9 +23,9 @@ public:
/// @param initial_i Initial value for the I term. /// @param initial_i Initial value for the I term.
/// @param initial_imax Initial value for the imax term.4 /// @param initial_imax Initial value for the imax term.4
/// ///
APM_PI(const float &initial_p = 0.0, APM_PI(const float & initial_p = 0.0,
const float &initial_i = 0.0, const float & initial_i = 0.0,
const int16_t &initial_imax = 0.0) const int16_t & initial_imax = 0.0)
{ {
_kp = initial_p; _kp = initial_p;
_ki = initial_i; _ki = initial_i;
@ -67,21 +67,37 @@ public:
//@{ //@{
/// Overload the function call operator to permit relatively easy initialisation /// Overload the function call operator to permit relatively easy initialisation
void operator() (const float p, void operator () (const float p,
const float i, const float i,
const int16_t imaxval) { const int16_t imaxval) {
_kp = p; _ki = i; _imax = imaxval; _kp = p; _ki = i; _imax = imaxval;
} }
float kP() const { return _kp.get(); } float kP() const {
float kI() const { return _ki.get(); } return _kp.get();
int16_t imax() const { return _imax.get(); } }
float kI() const {
return _ki.get();
}
int16_t imax() const {
return _imax.get();
}
void kP(const float v) { _kp.set(v); } void kP(const float v) {
void kI(const float v) { _ki.set(v); } _kp.set(v);
void imax(const int16_t v) { _imax.set(abs(v)); } }
float get_integrator() const { return _integrator; } void kI(const float v) {
void set_integrator(float i) { _integrator = i; } _ki.set(v);
}
void imax(const int16_t v) {
_imax.set(abs(v));
}
float get_integrator() const {
return _integrator;
}
void set_integrator(float i) {
_integrator = i;
}
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];