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added ability to get the integrator for debugging 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1117 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-12-13 04:05:55 +00:00
parent 7945937874
commit f64fab442d
1 changed files with 6 additions and 4 deletions
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10
libraries/PID/PID.h
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@ -96,10 +96,10 @@ public:
/// @name parameter accessors
//@{
float kP() { return _gain_array[0]; }
float kI() { return _gain_array[1]; }
float kD() { return _gain_array[2]; }
float imax() { return _gain_array[3]; }
float kP() { return _gain_array[0]; }
float kI() { return _gain_array[1]; }
float kD() { return _gain_array[2]; }
float imax() { return _gain_array[3]; }
void kP(const float v) { _gain_array[0] = v; }
void kI(const float v) { _gain_array[1] = v; }
@ -110,6 +110,8 @@ public:
void operator ()(const float p, const float i, const float d, const float max)
{ kP(p); kI(i); kD(d); imax(max); }
//@}
float get_integrator() { return _integrator; }
private:
uint16_t _address; ///< EEPROM address for save/restore of P/I/D