From 9146458d4a632dde7a8f3806c4281eb49b986bb4 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Mon, 11 Dec 2023 18:31:02 +0000 Subject: [PATCH] AC_PID: remove unused set_integrator methods --- libraries/AC_PID/AC_PID.cpp | 10 ---------- libraries/AC_PID/AC_PID.h | 2 -- 2 files changed, 12 deletions(-) diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp index aa19e44a5f..6864072a30 100644 --- a/libraries/AC_PID/AC_PID.cpp +++ b/libraries/AC_PID/AC_PID.cpp @@ -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); diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h index 8f9b7704c9..dce0082143 100644 --- a/libraries/AC_PID/AC_PID.h +++ b/libraries/AC_PID/AC_PID.h @@ -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);