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Split P and I term

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This commit is contained in:
Jason Short 2011-12-06 21:10:30 -08:00
parent ae917f9e71
commit 98a26d19e6
1 changed files with 4 additions and 1 deletions
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libraries/APM_PI/APM_PI.h
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@ -78,7 +78,10 @@ public:
/// @returns The updated control output.
///
//long get_pi(int32_t error, float dt);
long get_pi(int32_t error, float dt, bool calc_i=true);
int32_t get_pi(int32_t error, float dt);
int32_t get_p(int32_t error);
int32_t get_i(int32_t error, float dt);
/// Reset the PI integrator
///