From fa7f39ba209660261da43af99102ee8ce36d7262 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 3 Dec 2011 17:57:12 -0800 Subject: [PATCH] Access to _clamp val. May want to make a private member and write accessor. --- libraries/AP_DCM/AP_DCM.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_DCM/AP_DCM.h b/libraries/AP_DCM/AP_DCM.h index afec0fcd45..0320539e69 100644 --- a/libraries/AP_DCM/AP_DCM.h +++ b/libraries/AP_DCM/AP_DCM.h @@ -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: