Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-11 17:13:56 -03:00
Code Issues Packages Projects Releases Wiki Activity

PID: Add a full reset method

Browse Source
This commit is contained in:
Michael du Breuil 2017-10-12 15:26:22 -07:00 committed by Tom Pittenger
parent 615f6dfadb
commit f8ac4efb1d
2 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/PID/PID.cpp
View File

@ -119,6 +119,11 @@ PID::reset_I()
_pid_info.I = 0; _pid_info.I = 0;
} }
void PID::reset() {
memset(&_pid_info, 0, sizeof(_pid_info));
reset_I();
}
void void
PID::load_gains() PID::load_gains()
{ {

4
libraries/PID/PID.h
View File

@ -39,6 +39,10 @@ public:
/// ///
float get_pid(float error, float scaler = 1.0); float get_pid(float error, float scaler = 1.0);
/// Reset the whole PID state
//
void reset();
/// Reset the PID integrator /// Reset the PID integrator
/// ///
void reset_I(); void reset_I();