From a9f1b608ed77d11bca6fa48a475b9a74d6e4ebca Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 6 May 2016 14:43:25 +1000 Subject: [PATCH] APM_Control: expose parameters as AP_Float --- libraries/APM_Control/AP_PitchController.h | 9 ++++----- libraries/APM_Control/AP_RollController.h | 5 +++++ 2 files changed, 9 insertions(+), 5 deletions(-) diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h index c0876ea24a..7cdac2d63f 100644 --- a/libraries/APM_Control/AP_PitchController.h +++ b/libraries/APM_Control/AP_PitchController.h @@ -30,11 +30,10 @@ public: static const struct AP_Param::GroupInfo var_info[]; - // tuning accessors - void kP(float v) { gains.P.set(v); } - void kI(float v) { gains.I.set(v); } - void kD(float v) { gains.D.set(v); } - void kFF(float v) { gains.FF.set(v); } + AP_Float &kP(void) { return gains.P; } + AP_Float &kI(void) { return gains.I; } + AP_Float &kD(void) { return gains.D; } + AP_Float &kFF(void) { return gains.FF; } private: const AP_Vehicle::FixedWing &aparm; diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h index 6a2228f62f..aea62ba053 100644 --- a/libraries/APM_Control/AP_RollController.h +++ b/libraries/APM_Control/AP_RollController.h @@ -36,6 +36,11 @@ public: void kI(float v) { gains.I.set(v); } void kD(float v) { gains.D.set(v); } void kFF(float v) { gains.FF.set(v); } + + AP_Float &kP(void) { return gains.P; } + AP_Float &kI(void) { return gains.I; } + AP_Float &kD(void) { return gains.D; } + AP_Float &kFF(void) { return gains.FF; } private: const AP_Vehicle::FixedWing &aparm;