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

12
libraries/AC_PID/AC_PI_2D.cpp
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@ -60,7 +60,7 @@ void AC_PI_2D::filt_hz(float hz)
_filt_hz.set(fabsf(hz)); _filt_hz.set(fabsf(hz));
// sanity check _filt_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 // calculate the input filter alpha
calc_filt_alpha(); calc_filt_alpha();
@ -135,7 +135,7 @@ void AC_PI_2D::load_gains()
_kp.load(); _kp.load();
_ki.load(); _ki.load();
_imax.load(); _imax.load();
_imax = fabsf(_imax); _imax.set(fabsf(_imax));
_filt_hz.load(); _filt_hz.load();
// calculate the input filter alpha // calculate the input filter alpha
@ -154,10 +154,10 @@ void AC_PI_2D::save_gains()
/// Overload the function call operator to permit easy initialisation /// 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) void AC_PI_2D::operator() (float p, float i, float imaxval, float input_filt_hz, float dt)
{ {
_kp = p; _kp.set(p);
_ki = i; _ki.set(i);
_imax = fabsf(imaxval); _imax.set(fabsf(imaxval));
_filt_hz = input_filt_hz; _filt_hz.set(input_filt_hz);
_dt = dt; _dt = dt;
// calculate the input filter alpha // calculate the input filter alpha
calc_filt_alpha(); calc_filt_alpha();