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Split the P and I terms in PI

This commit is contained in:
Jason Short 2011-12-06 21:08:47 -08:00
parent e3700365d4
commit ae917f9e71
1 changed files with 13 additions and 4 deletions
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17
libraries/APM_PI/APM_PI.cpp
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@ -7,10 +7,14 @@
#include "APM_PI.h" #include "APM_PI.h"
long int32_t APM_PI::get_p(int32_t error)
APM_PI::get_pi(int32_t error, float dt, bool calc_i)
{ {
if(calc_i){ return (float)error * _kp;
}
int32_t APM_PI::get_i(int32_t error, float dt)
{
if(dt != 0){
_integrator += ((float)error * _ki) * dt; _integrator += ((float)error * _ki) * dt;
if (_integrator < -_imax) { if (_integrator < -_imax) {
@ -19,7 +23,12 @@ APM_PI::get_pi(int32_t error, float dt, bool calc_i)
_integrator = _imax; _integrator = _imax;
} }
} }
return (float)error * _kp + _integrator; return _integrator;
}
int32_t APM_PI::get_pi(int32_t error, float dt)
{
return get_p(error) + get_i(error, dt);
} }
void void