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APM_PI: ported to AP_HAL

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* formatted to 80w, way of the future, way of the future
This commit is contained in:
Pat Hickey 2012-11-30 17:14:49 -08:00 committed by Andrew Tridgell
parent 2244ac295c
commit 71a360b3e3
1 changed files with 7 additions and 6 deletions
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13
libraries/APM_PI/APM_PI.h
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@ -3,12 +3,11 @@
/// @file PI.h /// @file PI.h
/// @brief Generic PI algorithm, with EEPROM-backed storage of constants. /// @brief Generic PI algorithm, with EEPROM-backed storage of constants.
#ifndef APM_PI_h #ifndef __APM_PI_H__
#define APM_PI_h #define __APM_PI_H__
#include <AP_Common.h> #include <stdlib.h>
#include <AP_Param.h> #include <AP_Param.h>
//#include <math.h> // for fabs()
/// @class APM_PI /// @class APM_PI
/// @brief Object managing one PI control /// @brief Object managing one PI control
@ -67,7 +66,8 @@ public:
/// @name parameter accessors /// @name parameter accessors
//@{ //@{
/// Overload the function call operator to permit relatively easy initialisation // Overload the function call operator to permit relatively easy
//initialisation
void operator () (const float p, void operator () (const float p,
const float i, const float i,
const int16_t imaxval) { const int16_t imaxval) {
@ -107,7 +107,8 @@ private:
AP_Float _ki; AP_Float _ki;
AP_Int16 _imax; AP_Int16 _imax;
float _integrator; ///< integrator value // integrator value
float _integrator;
}; };
#endif #endif