mirror of https://github.com/ArduPilot/ardupilot
31 lines
615 B
C++
31 lines
615 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AC_P.cpp
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/// @brief Generic P algorithm
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#include <AP_Math.h>
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#include "AC_P.h"
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const AP_Param::GroupInfo AC_P::var_info[] PROGMEM = {
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// @Param: P
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// @DisplayName: PI Proportional Gain
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// @Description: P Gain which produces an output value that is proportional to the current error value
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AP_GROUPINFO("P", 0, AC_P, _kp, 0),
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AP_GROUPEND
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};
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float AC_P::get_p(float error) const
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{
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return (float)error * _kp;
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}
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void AC_P::load_gains()
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{
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_kp.load();
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}
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void AC_P::save_gains()
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{
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_kp.save();
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}
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