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AC_PID: AC_PI_2D format changes

This commit is contained in:
Leonard Hall 2020-01-04 16:55:34 +10:30 committed by Randy Mackay
parent 7eb4e9b370
commit f0f87be06d
1 changed files with 36 additions and 36 deletions
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12
libraries/AC_PID/AC_PI_2D.h
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@ -19,7 +19,7 @@ public:
// Constructor for PID // Constructor for PID
AC_PI_2D(float initial_p, float initial_i, float initial_imax, float initial_filt_hz, float dt); 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 // set time step in seconds
void set_dt(float dt); void set_dt(float dt);
// set_input - set input to PID controller // set_input - set input to PID controller
@ -57,10 +57,10 @@ public:
float get_filt_alpha() const { return _filt_alpha; } float get_filt_alpha() const { return _filt_alpha; }
// set accessors // set accessors
void kP(const float v) { _kp.set(v); } void kP(float v) { _kp.set(v); }
void kI(const float v) { _ki.set(v); } void kI(float v) { _ki.set(v); }
void imax(const float v) { _imax.set(fabsf(v)); } void imax(float v) { _imax.set(fabsf(v)); }
void filt_hz(const float v); void filt_hz(float hz);
Vector2f get_integrator() const { return _integrator; } Vector2f get_integrator() const { return _integrator; }
void set_integrator(const Vector2f &i) { _integrator = i; } void set_integrator(const Vector2f &i) { _integrator = i; }
@ -69,7 +69,7 @@ public:
// parameter var table // 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 // calc_filt_alpha - recalculate the input filter alpha
void calc_filt_alpha(); void calc_filt_alpha();