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AC_PosControl: get_pos_xy_kP accessor method

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Randy Mackay 2014-02-10 23:39:25 +09:00 committed by Andrew Tridgell
parent 8d6eb1eceb
commit 78c12eaebf
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -182,6 +182,9 @@ public:
// get_leash_xy - returns horizontal leash length in cm
float get_leash_xy() { return _leash; }
/// get_pos_xy_kP - returns xy position controller's kP gain
float get_pos_xy_kP() const { return _pi_pos_lat.kP(); }
/// accessors for reporting
const Vector3f get_vel_target() { return _vel_target; }
const Vector3f get_accel_target() { return _accel_target; }