mirror of https://github.com/ArduPilot/ardupilot
37 lines
546 B
C++
37 lines
546 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file ACM_PI.cpp
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/// @brief Generic PI algorithm
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#include <math.h>
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#include "APM_PI.h"
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long
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APM_PI::get_pi(int32_t error, float dt)
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{
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_integrator += ((float)error * _ki) * dt;
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_integrator = min(_integrator, (float)_imax);
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_integrator = max(_integrator, (float)-_imax);
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return (float)error * _kp + _integrator;
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}
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void
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APM_PI::reset_I()
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{
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_integrator = 0;
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}
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void
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APM_PI::load_gains()
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{
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_group.load();
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}
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void
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APM_PI::save_gains()
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{
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_group.save();
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}
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