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AC_PID: remove unused set_integrator methods

This commit is contained in:
Iampete1 2023-12-11 18:31:02 +00:00 committed by Randy Mackay
parent 2d75b0312e
commit 9146458d4a
2 changed files with 0 additions and 12 deletions
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10
libraries/AC_PID/AC_PID.cpp
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@ -402,16 +402,6 @@ float AC_PID::get_filt_D_alpha(float dt) const
return calc_lowpass_alpha_dt(dt, _filt_D_hz);
}
void AC_PID::set_integrator(float target, float measurement, float integrator)
{
set_integrator(target - measurement, integrator);
}
void AC_PID::set_integrator(float error, float integrator)
{
_integrator = constrain_float(integrator - error * _kp, -_kimax, _kimax);
}
void AC_PID::set_integrator(float integrator)
{
_integrator = constrain_float(integrator, -_kimax, _kimax);

2
libraries/AC_PID/AC_PID.h
View File

@ -134,8 +134,6 @@ public:
void set_actual_rate(float actual) { _pid_info.actual = actual; }
// integrator setting functions
void set_integrator(float target, float measurement, float i);
void set_integrator(float error, float i);
void set_integrator(float i);
void relax_integrator(float integrator, float dt, float time_constant);