From f6069c35f4ff52cd1424f323535705479e4f4aa7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 11 Oct 2022 09:13:47 +1100 Subject: [PATCH] APM_Control: added access to time constant --- libraries/APM_Control/AP_PitchController.h | 1 + libraries/APM_Control/AP_RollController.h | 1 + 2 files changed, 2 insertions(+) diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h index 359ca12664..167afa48cb 100644 --- a/libraries/APM_Control/AP_PitchController.h +++ b/libraries/APM_Control/AP_PitchController.h @@ -44,6 +44,7 @@ public: AP_Float &kI(void) { return rate_pid.kI(); } AP_Float &kD(void) { return rate_pid.kD(); } AP_Float &kFF(void) { return rate_pid.ff(); } + AP_Float &tau(void) { return gains.tau; } void convert_pid(); diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h index 81cd84665c..0c5d9301a7 100644 --- a/libraries/APM_Control/AP_RollController.h +++ b/libraries/APM_Control/AP_RollController.h @@ -51,6 +51,7 @@ public: AP_Float &kI(void) { return rate_pid.kI(); } AP_Float &kD(void) { return rate_pid.kD(); } AP_Float &kFF(void) { return rate_pid.ff(); } + AP_Float &tau(void) { return gains.tau; } void convert_pid();