Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Split P and I term

This commit is contained in:
Jason Short 2011-12-06 21:10:30 -08:00
parent 9ed6463b39
commit 9d1f56c6da
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/APM_PI/APM_PI.h
View File

@ -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
///