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uncrustify libraries/APM_PI/APM_PI.cpp

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uncrustify 2012-08-16 23:20:38 -07:00 committed by Pat Hickey
parent 7ffa44c324
commit 6c0c5f524b
1 changed files with 22 additions and 22 deletions
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44
libraries/APM_PI/APM_PI.cpp
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@ -8,54 +8,54 @@
#include "APM_PI.h"
const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = {
AP_GROUPINFO("P", 0, APM_PI, _kp, 0),
AP_GROUPINFO("I", 1, APM_PI, _ki, 0),
AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
AP_GROUPEND
AP_GROUPINFO("P", 0, APM_PI, _kp, 0),
AP_GROUPINFO("I", 1, APM_PI, _ki, 0),
AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
AP_GROUPEND
};
int32_t APM_PI::get_p(int32_t error)
{
return (float)error * _kp;
return (float)error * _kp;
}
int32_t APM_PI::get_i(int32_t error, float dt)
{
if(dt != 0){
_integrator += ((float)error * _ki) * dt;
if(dt != 0) {
_integrator += ((float)error * _ki) * dt;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
}
return _integrator;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
}
return _integrator;
}
int32_t APM_PI::get_pi(int32_t error, float dt)
{
return get_p(error) + get_i(error, dt);
return get_p(error) + get_i(error, dt);
}
void
APM_PI::reset_I()
{
_integrator = 0;
_integrator = 0;
}
void
APM_PI::load_gains()
{
_kp.load();
_ki.load();
_imax.load();
_kp.load();
_ki.load();
_imax.load();
}
void
APM_PI::save_gains()
{
_kp.save();
_ki.save();
_imax.save();
_kp.save();
_ki.save();
_imax.save();
}