From f6e268395fe245055100af8b7df91a61dcac49e2 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 3 Jan 2012 10:28:26 -0800 Subject: [PATCH] allows main code to manually set the integrator value --- libraries/APM_PI/APM_PI.h | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/APM_PI/APM_PI.h b/libraries/APM_PI/APM_PI.h index accfab992c..03faad3365 100644 --- a/libraries/APM_PI/APM_PI.h +++ b/libraries/APM_PI/APM_PI.h @@ -113,6 +113,7 @@ public: void kI(const float v) { _ki.set(v); } void imax(const int16_t v) { _imax.set(abs(v)); } float get_integrator() const { return _integrator; } + void set_integrator(float i) { _integrator = i; } private: AP_Var_group _group;