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https://github.com/ArduPilot/ardupilot
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e5e4dee708
AP_Logger.h is a nexus of includes; while this is being improved over time, there's no reason for the library headers to include AP_Logger.h as the logger itself is access by singleton and the structures are in LogStructure.h This necessitated moving The PID_Info structure out of AP_Logger's namespace. This cleans up a pretty nasty bit - that structure is definitely not simply used for logging, but also used to pass pid information around to controllers! There are a lot of patches in here because AP_Logger.h, acting as a nexus, was providing transitive header file inclusion in many (some unlikely!) places.
21 lines
455 B
C
21 lines
455 B
C
#pragma once
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// This structure provides information on the internal member data of
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// a PID. It provides an abstract way to pass PID information around,
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// useful for logging and sending mavlink messages.
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// It is also used to pass PID information into controllers...
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struct AP_PIDInfo {
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float target;
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float actual;
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float error;
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float P;
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float I;
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float D;
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float FF;
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float Dmod;
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float slew_rate;
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bool limit;
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};
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