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AP_RollController: return floats

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Iampete1 2021-09-18 18:58:08 +01:00 committed by Andrew Tridgell
parent da4fd7a914
commit a590a675d6
2 changed files with 7 additions and 7 deletions
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8
libraries/APM_Control/AP_RollController.cpp
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@ -129,7 +129,7 @@ AP_RollController::AP_RollController(const AP_Vehicle::FixedWing &parms)
/*
AC_PID based rate controller
*/
int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator)
float AP_RollController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator)
{
const AP_AHRS &_ahrs = AP::ahrs();
@ -197,7 +197,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
}
// output is scaled to notional centidegrees of deflection
return constrain_int32(out * 100, -4500, 4500);
return constrain_float(out * 100, -4500, 4500);
}
/*
@ -207,7 +207,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
1) desired roll rate in degrees/sec
2) control gain scaler = scaling_speed / aspeed
*/
int32_t AP_RollController::get_rate_out(float desired_rate, float scaler)
float AP_RollController::get_rate_out(float desired_rate, float scaler)
{
return _get_rate_out(desired_rate, scaler, false);
}
@ -221,7 +221,7 @@ int32_t AP_RollController::get_rate_out(float desired_rate, float scaler)
3) boolean which is true when stabilise mode is active
4) minimum FBW airspeed (metres/sec)
*/
int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
float AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
{
if (gains.tau < 0.05f) {
gains.tau.set(0.05f);

6
libraries/APM_Control/AP_RollController.h
View File

@ -15,8 +15,8 @@ public:
AP_RollController(const AP_RollController &other) = delete;
AP_RollController &operator=(const AP_RollController&) = delete;
int32_t get_rate_out(float desired_rate, float scaler);
int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
float get_rate_out(float desired_rate, float scaler);
float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
void reset_I();
@ -61,5 +61,5 @@ private:
AP_Logger::PID_Info _pid_info;
int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator);
float _get_rate_out(float desired_rate, float scaler, bool disable_integrator);
};