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AC_AttControl: accessor for rate feedforward

This commit is contained in:
Leonard Hall 2015-02-11 20:07:29 +09:00 committed by Randy Mackay
parent 691fb8947e
commit f00025e5c9
1 changed files with 4 additions and 1 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -140,9 +140,12 @@ public:
// rate_ef_targets - returns rate controller body-frame targets (for reporting) // rate_ef_targets - returns rate controller body-frame targets (for reporting)
const Vector3f& rate_bf_targets() const { return _rate_bf_target; } const Vector3f& rate_bf_targets() const { return _rate_bf_target; }
// enable_bf_feedforward - enable or disable body-frame feed forward // bf_feedforward - enable or disable body-frame feed forward
void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; } void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; }
// get_bf_feedforward - return body-frame feed forward setting
bool get_bf_feedforward() { return _rate_bf_ff_enabled; }
// enable_bf_feedforward - enable or disable body-frame feed forward // enable_bf_feedforward - enable or disable body-frame feed forward
void accel_limiting(bool enable_or_disable); void accel_limiting(bool enable_or_disable);