From f0f87be06debb086492cefdcfb65ddc8f9a8ffb3 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Sat, 4 Jan 2020 16:55:34 +1030
Subject: [PATCH] AC_PID: AC_PI_2D format changes

---
 libraries/AC_PID/AC_PI_2D.h | 72 ++++++++++++++++++-------------------
 1 file changed, 36 insertions(+), 36 deletions(-)

diff --git a/libraries/AC_PID/AC_PI_2D.h b/libraries/AC_PID/AC_PI_2D.h
index 057f312a76..aece5c011b 100644
--- a/libraries/AC_PID/AC_PI_2D.h
+++ b/libraries/AC_PID/AC_PI_2D.h
@@ -19,75 +19,75 @@ public:
     // Constructor for PID
     AC_PI_2D(float initial_p, float initial_i, float initial_imax, float initial_filt_hz, float dt);
 
-    // set_dt - set time step in seconds
-    void        set_dt(float dt);
+    // set time step in seconds
+    void set_dt(float dt);
 
     // set_input - set input to PID controller
     //  input is filtered before the PID controllers are run
     //  this should be called before any other calls to get_p, get_i or get_d
-    void        set_input(const Vector2f &input);
-    void        set_input(const Vector3f &input) { set_input(Vector2f(input.x, input.y)); }
+    void set_input(const Vector2f &input);
+    void set_input(const Vector3f &input) { set_input(Vector2f(input.x, input.y)); }
 
     // get_pi - get results from pid controller
-    Vector2f    get_pi();
-    Vector2f    get_p() const;
-    Vector2f    get_i();
-    Vector2f    get_i_shrink();   // get_i but do not allow integrator to grow (it may shrink)
+    Vector2f get_pi();
+    Vector2f get_p() const;
+    Vector2f get_i();
+    Vector2f get_i_shrink();   // get_i but do not allow integrator to grow (it may shrink)
 
     // reset_I - reset the integrator
-    void        reset_I();
+    void reset_I();
 
     // reset_filter - input filter will be reset to the next value provided to set_input()
-    void        reset_filter();
+    void reset_filter();
 
     // load gain from eeprom
-    void        load_gains();
+    void load_gains();
 
     // save gain to eeprom
-    void        save_gains();
+    void save_gains();
 
     /// operator function call for easy initialisation
     void operator() (float p, float i, float imaxval, float input_filt_hz, float dt);
 
     // get accessors
-    AP_Float   &kP() { return _kp; }
-    AP_Float   &kI() { return _ki; }
-    float       imax() const { return _imax.get(); }
-    float       filt_hz() const { return _filt_hz.get(); }
-    float       get_filt_alpha() const { return _filt_alpha; }
+    AP_Float &kP() { return _kp; }
+    AP_Float &kI() { return _ki; }
+    float imax() const { return _imax.get(); }
+    float filt_hz() const { return _filt_hz.get(); }
+    float get_filt_alpha() const { return _filt_alpha; }
 
     // set accessors
-    void        kP(const float v) { _kp.set(v); }
-    void        kI(const float v) { _ki.set(v); }
-    void        imax(const float v) { _imax.set(fabsf(v)); }
-    void        filt_hz(const float v);
+    void kP(float v) { _kp.set(v); }
+    void kI(float v) { _ki.set(v); }
+    void imax(float v) { _imax.set(fabsf(v)); }
+    void filt_hz(float hz);
 
-    Vector2f    get_integrator() const { return _integrator; }
-    void        set_integrator(const Vector2f &i) { _integrator = i; }
-    void        set_integrator(const Vector3f &i) { _integrator.x = i.x; _integrator.y = i.y; }
+    Vector2f get_integrator() const { return _integrator; }
+    void set_integrator(const Vector2f &i) { _integrator = i; }
+    void set_integrator(const Vector3f &i) { _integrator.x = i.x; _integrator.y = i.y; }
 
     // parameter var table
-    static const struct AP_Param::GroupInfo        var_info[];
+    static const struct AP_Param::GroupInfo var_info[];
 
-protected:
+private:
 
     // calc_filt_alpha - recalculate the input filter alpha
-    void        calc_filt_alpha();
+    void calc_filt_alpha();
 
     // parameters
-    AP_Float        _kp;
-    AP_Float        _ki;
-    AP_Float        _imax;
-    AP_Float        _filt_hz;                   // PID Input filter frequency in Hz
+    AP_Float _kp;
+    AP_Float _ki;
+    AP_Float _imax;
+    AP_Float _filt_hz;  // PID Input filter frequency in Hz
 
     // flags
     struct ac_pid_flags {
-        bool        _reset_filter : 1;    // true when input filter should be reset during next call to set_input
+        bool _reset_filter : 1;    // true when input filter should be reset during next call to set_input
     } _flags;
 
     // internal variables
-    float           _dt;            // timestep in seconds
-    Vector2f        _integrator;    // integrator value
-    Vector2f        _input;         // last input for derivative
-    float           _filt_alpha;    // input filter alpha
+    float _dt;              // timestep in seconds
+    Vector2f _integrator;   // integrator value
+    Vector2f _input;        // last input for derivative
+    float _filt_alpha;      // input filter alpha
 };