mirror of https://github.com/ArduPilot/ardupilot
AC_PID: params always use set method
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@ -54,7 +54,7 @@ public:
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//@{
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/// Overload the function call operator to permit relatively easy initialisation
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void operator() (const float p) { _kp = p; }
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void operator() (const float p) { _kp.set(p); }
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// accessors
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AP_Float &kP() { return _kp; }
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@ -282,7 +282,7 @@ void AC_PID::load_gains()
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_kd.load();
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_kff.load();
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_kimax.load();
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_kimax = fabsf(_kimax);
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_kimax.set(fabsf(_kimax));
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_filt_T_hz.load();
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_filt_E_hz.load();
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_filt_D_hz.load();
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@ -304,14 +304,14 @@ void AC_PID::save_gains()
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/// Overload the function call operator to permit easy initialisation
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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)
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{
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_kp = p_val;
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_ki = i_val;
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_kd = d_val;
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_kff = ff_val;
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_kimax = fabsf(imax_val);
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_filt_T_hz = input_filt_T_hz;
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_filt_E_hz = input_filt_E_hz;
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_filt_D_hz = input_filt_D_hz;
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_kp.set(p_val);
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_ki.set(i_val);
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_kd.set(d_val);
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_kff.set(ff_val);
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_kimax.set(fabsf(imax_val));
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_filt_T_hz.set(input_filt_T_hz);
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_filt_E_hz.set(input_filt_E_hz);
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_filt_D_hz.set(input_filt_D_hz);
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_dt = dt;
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}
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@ -60,7 +60,7 @@ void AC_PI_2D::filt_hz(float hz)
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_filt_hz.set(fabsf(hz));
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// sanity check _filt_hz
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_filt_hz = MAX(_filt_hz, AC_PI_2D_FILT_HZ_MIN);
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_filt_hz.set(MAX(_filt_hz, AC_PI_2D_FILT_HZ_MIN));
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// calculate the input filter alpha
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calc_filt_alpha();
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@ -135,7 +135,7 @@ void AC_PI_2D::load_gains()
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_kp.load();
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_ki.load();
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_imax.load();
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_imax = fabsf(_imax);
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_imax.set(fabsf(_imax));
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_filt_hz.load();
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// calculate the input filter alpha
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@ -154,10 +154,10 @@ void AC_PI_2D::save_gains()
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/// Overload the function call operator to permit easy initialisation
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void AC_PI_2D::operator() (float p, float i, float imaxval, float input_filt_hz, float dt)
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{
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_kp = p;
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_ki = i;
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_imax = fabsf(imaxval);
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_filt_hz = input_filt_hz;
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_kp.set(p);
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_ki.set(i);
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_imax.set(fabsf(imaxval));
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_filt_hz.set(input_filt_hz);
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_dt = dt;
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// calculate the input filter alpha
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calc_filt_alpha();
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