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APM_Control: fixed for cygwin build

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This commit is contained in:
Andrew Tridgell 2021-04-02 12:54:34 +11:00
parent 364fa0680d
commit 3cb32a18f0
2 changed files with 5 additions and 5 deletions
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8
libraries/APM_Control/AP_AutoTune.cpp
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@ -236,7 +236,7 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler)
unsigned(new_state), unsigned(new_state),
actuator, actuator,
desired_rate, desired_rate,
FF0, FF_single,
current.FF, current.FF,
current.P, current.P,
current.D, current.D,
@ -277,13 +277,13 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler)
// we've finished an event. calculate the single-event FF value // we've finished an event. calculate the single-event FF value
if (state == ATState::DEMAND_POS) { if (state == ATState::DEMAND_POS) {
FF0 = max_actuator / (max_rate * scaler); FF_single = max_actuator / (max_rate * scaler);
} else { } else {
FF0 = min_actuator / (min_rate * scaler); FF_single = min_actuator / (min_rate * scaler);
} }
// apply median filter // apply median filter
float FF = ff_filter.apply(FF0); float FF = ff_filter.apply(FF_single);
const float old_FF = rpid.ff(); const float old_FF = rpid.ff();

2
libraries/APM_Control/AP_AutoTune.h
View File

@ -114,5 +114,5 @@ private:
float max_P; float max_P;
float max_D; float max_D;
float min_Dmod; float min_Dmod;
float FF0; float FF_single;
}; };