From 3ec8857fbc20bff2e952a43cf9cd30bc4e052416 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 24 May 2015 15:51:44 +1000 Subject: [PATCH] AC_PID: added set_desired_rate() interface used to setup _pid_info for logging --- libraries/AC_PID/AC_HELI_PID.cpp | 2 -- libraries/AC_PID/AC_PID.h | 3 +++ 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/libraries/AC_PID/AC_HELI_PID.cpp b/libraries/AC_PID/AC_HELI_PID.cpp index 05bf8b453e..0b1971f112 100644 --- a/libraries/AC_PID/AC_HELI_PID.cpp +++ b/libraries/AC_PID/AC_HELI_PID.cpp @@ -56,7 +56,6 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa float AC_HELI_PID::get_vff(float requested_rate) { _pid_info.FF = (float)requested_rate * _vff; - _pid_info.desired = requested_rate; return _pid_info.FF; } @@ -73,7 +72,6 @@ float AC_HELI_PID::get_aff(float requested_rate) _pid_info.AFF = derivative * _aff; _last_requested_rate = requested_rate; - _pid_info.desired = requested_rate; return _pid_info.AFF; } diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h index 5d0ab0c05b..49832fef0b 100644 --- a/libraries/AC_PID/AC_PID.h +++ b/libraries/AC_PID/AC_PID.h @@ -76,6 +76,9 @@ public: float get_integrator() const { return _integrator; } void set_integrator(float i) { _integrator = i; } + // set the designed rate (for logging purposes) + void set_desired_rate(float desired) { _pid_info.desired = desired; } + const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; } // parameter var table