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upped D filter to 6

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3096 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-14 05:44:29 +00:00
parent 312c0e6b3b
commit d192ceb8f8
1 changed files with 1 additions and 2 deletions
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3
libraries/PID/PID.h
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@ -8,7 +8,7 @@
#include <AP_Common.h> #include <AP_Common.h>
#include <math.h> // for fabs() #include <math.h> // for fabs()
#define PID_FILTER_SIZE 4 #define PID_FILTER_SIZE 6
/// @class PID /// @class PID
/// @brief Object managing one PID control /// @brief Object managing one PID control
@ -131,7 +131,6 @@ private:
AP_Float16 _ki; AP_Float16 _ki;
AP_Float16 _kd; AP_Float16 _kd;
AP_Int16 _imax; AP_Int16 _imax;
//uint8_t _filter_size;
float _filter[PID_FILTER_SIZE]; float _filter[PID_FILTER_SIZE];
uint8_t _filter_index; uint8_t _filter_index;