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AC_PID: return P and D as output with slew limit and sum limit applyed

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Iampete1 2023-12-11 18:27:45 +00:00 committed by Randy Mackay
parent 5065770e30
commit 2d75b0312e
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_PID/AC_PID.cpp
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@ -323,7 +323,7 @@ void AC_PID::update_i(float dt, bool limit)
float AC_PID::get_p() const float AC_PID::get_p() const
{ {
return _error * _kp; return _pid_info.P;
} }
float AC_PID::get_i() const float AC_PID::get_i() const
@ -333,7 +333,7 @@ float AC_PID::get_i() const
float AC_PID::get_d() const float AC_PID::get_d() const
{ {
return _kd * _derivative; return _pid_info.D;
} }
float AC_PID::get_ff() const float AC_PID::get_ff() const