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APM_Control: added tuning accessors

This commit is contained in:
Andrew Tridgell 2016-04-16 20:37:33 +10:00
parent 27fb35253c
commit 8586b0ae5a
2 changed files with 13 additions and 0 deletions
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6
libraries/APM_Control/AP_PitchController.h
View File

@ -30,6 +30,12 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// tuning accessors
void kP(float v) { gains.P.set(v); }
void kI(float v) { gains.I.set(v); }
void kD(float v) { gains.D.set(v); }
void kFF(float v) { gains.FF.set(v); }
private: private:
const AP_Vehicle::FixedWing &aparm; const AP_Vehicle::FixedWing &aparm;
AP_AutoTune::ATGains gains; AP_AutoTune::ATGains gains;

7
libraries/APM_Control/AP_RollController.h
View File

@ -30,6 +30,13 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// tuning accessors
void kP(float v) { gains.P.set(v); }
void kI(float v) { gains.I.set(v); }
void kD(float v) { gains.D.set(v); }
void kFF(float v) { gains.FF.set(v); }
private: private:
const AP_Vehicle::FixedWing &aparm; const AP_Vehicle::FixedWing &aparm;
AP_AutoTune::ATGains gains; AP_AutoTune::ATGains gains;