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AC_PID: params always use set method

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Iampete1 2022-07-05 04:08:55 +01:00 committed by Peter Hall
parent aa6a908f8e
commit 8d216fbce3
3 changed files with 16 additions and 16 deletions
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2
libraries/AC_PID/AC_P.h
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@ -54,7 +54,7 @@ public:
//@{
/// Overload the function call operator to permit relatively easy initialisation
void operator() (const float p) { _kp = p; }
void operator() (const float p) { _kp.set(p); }
// accessors
AP_Float &kP() { return _kp; }

18
libraries/AC_PID/AC_PID.cpp
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@ -282,7 +282,7 @@ void AC_PID::load_gains()
_kd.load();
_kff.load();
_kimax.load();
_kimax = fabsf(_kimax);
_kimax.set(fabsf(_kimax));
_filt_T_hz.load();
_filt_E_hz.load();
_filt_D_hz.load();
@ -304,14 +304,14 @@ void AC_PID::save_gains()
/// Overload the function call operator to permit easy initialisation
void AC_PID::operator()(float p_val, float i_val, float d_val, float ff_val, float imax_val, float input_filt_T_hz, float input_filt_E_hz, float input_filt_D_hz, float dt)
{
_kp = p_val;
_ki = i_val;
_kd = d_val;
_kff = ff_val;
_kimax = fabsf(imax_val);
_filt_T_hz = input_filt_T_hz;
_filt_E_hz = input_filt_E_hz;
_filt_D_hz = input_filt_D_hz;
_kp.set(p_val);
_ki.set(i_val);
_kd.set(d_val);
_kff.set(ff_val);
_kimax.set(fabsf(imax_val));
_filt_T_hz.set(input_filt_T_hz);
_filt_E_hz.set(input_filt_E_hz);
_filt_D_hz.set(input_filt_D_hz);
_dt = dt;
}

12
libraries/AC_PID/AC_PI_2D.cpp
View File

@ -60,7 +60,7 @@ void AC_PI_2D::filt_hz(float hz)
_filt_hz.set(fabsf(hz));
// sanity check _filt_hz
_filt_hz = MAX(_filt_hz, AC_PI_2D_FILT_HZ_MIN);
_filt_hz.set(MAX(_filt_hz, AC_PI_2D_FILT_HZ_MIN));
// calculate the input filter alpha
calc_filt_alpha();
@ -135,7 +135,7 @@ void AC_PI_2D::load_gains()
_kp.load();
_ki.load();
_imax.load();
_imax = fabsf(_imax);
_imax.set(fabsf(_imax));
_filt_hz.load();
// calculate the input filter alpha
@ -154,10 +154,10 @@ void AC_PI_2D::save_gains()
/// Overload the function call operator to permit easy initialisation
void AC_PI_2D::operator() (float p, float i, float imaxval, float input_filt_hz, float dt)
{
_kp = p;
_ki = i;
_imax = fabsf(imaxval);
_filt_hz = input_filt_hz;
_kp.set(p);
_ki.set(i);
_imax.set(fabsf(imaxval));
_filt_hz.set(input_filt_hz);
_dt = dt;
// calculate the input filter alpha
calc_filt_alpha();