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APM_Control: expose parameters as AP_Float

This commit is contained in:
Andrew Tridgell 2016-05-06 14:43:25 +10:00
parent 412dc10353
commit a9f1b608ed
2 changed files with 9 additions and 5 deletions
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9
libraries/APM_Control/AP_PitchController.h
View File

@ -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;

5
libraries/APM_Control/AP_RollController.h
View File

@ -37,6 +37,11 @@ public:
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;
AP_AutoTune::ATGains gains;