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AP_Param: update PID libraries for new constructor syntax

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This commit is contained in:
Andrew Tridgell 2012-08-07 11:01:23 +10:00
parent 45c7c9b8d1
commit 3dfe55e72c
6 changed files with 25 additions and 28 deletions
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8
libraries/AC_PID/AC_PID.cpp
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@ -7,10 +7,10 @@
#include "AC_PID.h" #include "AC_PID.h"
const AP_Param::GroupInfo AC_PID::var_info[] PROGMEM = { const AP_Param::GroupInfo AC_PID::var_info[] PROGMEM = {
AP_GROUPINFO("P", 0, AC_PID, _kp), AP_GROUPINFO("P", 0, AC_PID, _kp, 0),
AP_GROUPINFO("I", 1, AC_PID, _ki), AP_GROUPINFO("I", 1, AC_PID, _ki, 0),
AP_GROUPINFO("D", 2, AC_PID, _kd), AP_GROUPINFO("D", 2, AC_PID, _kd, 0),
AP_GROUPINFO("IMAX", 3, AC_PID, _imax), AP_GROUPINFO("IMAX", 3, AC_PID, _imax, 0),
AP_GROUPEND AP_GROUPEND
}; };

12
libraries/AC_PID/AC_PID.h
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@ -28,14 +28,12 @@ public:
const float &initial_p = 0.0, const float &initial_p = 0.0,
const float &initial_i = 0.0, const float &initial_i = 0.0,
const float &initial_d = 0.0, const float &initial_d = 0.0,
const int16_t &initial_imax = 0.0) : const int16_t &initial_imax = 0.0)
_kp (initial_p),
_ki (initial_i),
_kd (initial_d),
_imax(abs(initial_imax))
{ {
// no need for explicit load, assuming that the main code uses AP_Param::load_all. _kp = initial_p;
_ki = initial_i;
_kd = initial_d;
_imax = abs(initial_imax);
} }
/// Iterate the PID, return the new control value /// Iterate the PID, return the new control value

6
libraries/APM_PI/APM_PI.cpp
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@ -8,9 +8,9 @@
#include "APM_PI.h" #include "APM_PI.h"
const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = { const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = {
AP_GROUPINFO("P", 0, APM_PI, _kp), AP_GROUPINFO("P", 0, APM_PI, _kp, 0),
AP_GROUPINFO("I", 1, APM_PI, _ki), AP_GROUPINFO("I", 1, APM_PI, _ki, 0),
AP_GROUPINFO("IMAX", 2, APM_PI, _imax), AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
AP_GROUPEND AP_GROUPEND
}; };

9
libraries/APM_PI/APM_PI.h
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@ -25,12 +25,11 @@ public:
/// ///
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),
_ki (initial_i),
_imax(initial_imax)
{ {
// no need for explicit load, assuming that the main code uses AP_Var::load_all. _kp = initial_p;
_ki = initial_i;
_imax = initial_imax;
} }
/// Iterate the PI, return the new control value /// Iterate the PI, return the new control value

8
libraries/PID/PID.cpp
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@ -8,10 +8,10 @@
#include "PID.h" #include "PID.h"
const AP_Param::GroupInfo PID::var_info[] PROGMEM = { const AP_Param::GroupInfo PID::var_info[] PROGMEM = {
AP_GROUPINFO("P", 0, PID, _kp), AP_GROUPINFO("P", 0, PID, _kp, 0),
AP_GROUPINFO("I", 1, PID, _ki), AP_GROUPINFO("I", 1, PID, _ki, 0),
AP_GROUPINFO("D", 2, PID, _kd), AP_GROUPINFO("D", 2, PID, _kd, 0),
AP_GROUPINFO("IMAX", 3, PID, _imax), AP_GROUPINFO("IMAX", 3, PID, _imax, 0),
AP_GROUPEND AP_GROUPEND
}; };

10
libraries/PID/PID.h
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@ -17,12 +17,12 @@ public:
PID(const float &initial_p = 0.0, PID(const float &initial_p = 0.0,
const float &initial_i = 0.0, const float &initial_i = 0.0,
const float &initial_d = 0.0, const float &initial_d = 0.0,
const int16_t &initial_imax = 0) : const int16_t &initial_imax = 0)
_kp (initial_p),
_ki (initial_i),
_kd (initial_d),
_imax(initial_imax)
{ {
_kp = initial_p;
_ki = initial_i;
_kd = initial_d;
_imax = initial_imax;
} }
/// Iterate the PID, return the new control value /// Iterate the PID, return the new control value