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AC_HELI_PID: shorten FILT_HZ to FILT, I_L_MIN to ILMI

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Also minor formatting fix
This commit is contained in:
Randy Mackay 2016-02-15 15:24:52 +09:00
parent 425caeabf7
commit 3465f05bec
2 changed files with 7 additions and 8 deletions
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8
libraries/AC_PID/AC_HELI_PID.cpp
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@ -32,17 +32,17 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
// @Description: The maximum/minimum value that the I term can output
AP_GROUPINFO("IMAX", 5, AC_HELI_PID, _imax, 0),
// @Param: FILT_HZ
// @Param: FILT
// @DisplayName: PID Input filter frequency in Hz
// @Description:
AP_GROUPINFO("FILT_HZ", 6, AC_HELI_PID, _filt_hz, AC_PID_FILT_HZ_DEFAULT),
AP_GROUPINFO("FILT", 6, AC_HELI_PID, _filt_hz, AC_PID_FILT_HZ_DEFAULT),
// @Param: I_L_MIN
// @Param: ILMI
// @DisplayName: I-term Leak Minimum
// @Description: Point below which I-term will not leak down
// @Range: 0 4500
// @User: Advanced
AP_GROUPINFO("I_L_MIN", 7, AC_HELI_PID, _leak_min, AC_PID_LEAK_MIN),
AP_GROUPINFO("ILMI", 7, AC_HELI_PID, _leak_min, AC_PID_LEAK_MIN),
// @Param: AFF
// @DisplayName: Acceleration FF FeedForward Gain

7
libraries/AC_PID/AC_HELI_PID.h
View File

@ -25,21 +25,20 @@ public:
/// get_avff - return Acceleration FeedForward Term
float get_aff(float requested_rate);
/// get_leaky_i - replacement for get_i but output is leaded at leak_rate
float get_leaky_i(float leak_rate);
// accessors
float ff() const { return _vff.get(); }
void ff(const float v) { _vff.set(v); }
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _vff;
AP_Float _leak_min;
AP_Float _aff;
float _last_requested_rate; // Requested rate from last iteration, used to calculate rate change of requested rate
};