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Access to _clamp val. May want to make a private member and write accessor.

This commit is contained in:
Jason Short 2011-12-03 17:57:12 -08:00
parent e37dffadf3
commit fa7f39ba20
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_DCM/AP_DCM.h
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@ -35,7 +35,8 @@ public:
_ki_roll_pitch(0.00001278),
_kp_yaw(0.8), // .8
_ki_yaw(0.00004), // 0.00004
_toggle(0)
_toggle(0),
_clamp(3)
{}
// Accessors
@ -44,7 +45,7 @@ public:
Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
Vector3f get_integrator(void) {return _omega_I; } // We return the current drift correction integrator values
float get_health(void) {return _health;}
void set_centripetal(bool b) {_centripetal = b;}
bool get_centripetal(void) {return _centripetal;}
@ -81,6 +82,7 @@ public:
static const float kDCM_kp_rp_high = 0.15;
static const float kDCM_kp_rp_medium = 0.05967;
static const float kDCM_kp_rp_low = 0.01;
int8_t _clamp;
private: