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AC_PID: fixed build on ARM

This commit is contained in:
Andrew Tridgell 2013-01-02 22:03:00 +11:00
parent e7dea077b4
commit 2294acc652
2 changed files with 9 additions and 7 deletions
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8
libraries/AC_PID/AC_PID.cpp
View File

@ -6,6 +6,14 @@
#include <math.h>
#include "AC_PID.h"
// Examples for _filter:
// f_cut = 10 Hz -> _filter = 15.9155e-3
// f_cut = 15 Hz -> _filter = 10.6103e-3
// f_cut = 20 Hz -> _filter = 7.9577e-3
// f_cut = 25 Hz -> _filter = 6.3662e-3
// f_cut = 30 Hz -> _filter = 5.3052e-3
const float AC_PID::_filter = 7.9577e-3; // Set to "1 / ( 2 * PI * f_cut )";
const AP_Param::GroupInfo AC_PID::var_info[] PROGMEM = {
// @Param: P
// @DisplayName: PID Proportional Gain

8
libraries/AC_PID/AC_PID.h
View File

@ -134,13 +134,7 @@ private:
/// Low pass filter cut frequency for derivative calculation.
///
static const float _filter = 7.9577e-3; // Set to "1 / ( 2 * PI * f_cut )";
// Examples for _filter:
// f_cut = 10 Hz -> _filter = 15.9155e-3
// f_cut = 15 Hz -> _filter = 10.6103e-3
// f_cut = 20 Hz -> _filter = 7.9577e-3
// f_cut = 25 Hz -> _filter = 6.3662e-3
// f_cut = 30 Hz -> _filter = 5.3052e-3
static const float _filter;
};
#endif // __AC_PID_H__