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AC_HELI_PID: Pass default FF param setting in constructor

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This commit is contained in:
Robert Lefebvre 2015-05-21 15:51:40 -04:00 committed by Randy Mackay
parent 575a5ad619
commit bcc3fa0526
2 changed files with 5 additions and 5 deletions
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8
libraries/AC_PID/AC_HELI_PID.cpp
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@ -23,8 +23,8 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] PROGMEM = {
AP_GROUPINFO("D", 2, AC_HELI_PID, _kd, 0),
// @Param: FC
// @DisplayName: PID+FF FeedForward Gain
// @Description: FF Gain which produces an output value that is proportional to the current error value
// @DisplayName: FF FeedForward Gain
// @Description: FF Gain which produces an output value that is proportional to the demanded input
AP_GROUPINFO("FF", 4, AC_HELI_PID, _ff, 0),
// @Param: IMAX
@ -40,10 +40,10 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] PROGMEM = {
};
/// Constructor for PID
AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt) :
AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff) :
AC_PID(initial_p, initial_i, initial_d, initial_imax, initial_filt_hz, dt)
{
_ff = 0.0f;
_ff = initial_ff;
}
float AC_HELI_PID::get_ff(float requested_rate) const

2
libraries/AC_PID/AC_HELI_PID.h
View File

@ -18,7 +18,7 @@ class AC_HELI_PID : public AC_PID {
public:
/// Constructor for PID
AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt);
AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff);
/// get_ff - return FeedForward Term
float get_ff(float requested_rate) const;