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AP_WheelEncoder: fixed PID constructor calls

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Andrew Tridgell 2021-06-06 16:47:24 +10:00
parent 476e9fc15a
commit a2d0f569c9
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_WheelEncoder/AP_WheelRateControl.h
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@ -58,8 +58,8 @@ private:
// parameters // parameters
AP_Int8 _enabled; // top level enable/disable control AP_Int8 _enabled; // top level enable/disable control
AP_Float _rate_max; // wheel maximum rotation rate in rad/s AP_Float _rate_max; // wheel maximum rotation rate in rad/s
AC_PID _rate_pid0 = AC_PID(AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_FF, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT); AC_PID _rate_pid0{AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_FF, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT};
AC_PID _rate_pid1 = AC_PID(AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_FF, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT); AC_PID _rate_pid1{AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_FF, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT};
// limit flags // limit flags
struct AP_MotorsUGV_limit { struct AP_MotorsUGV_limit {