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AC_PID: added set_desired_rate() interface

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used to setup _pid_info for logging
This commit is contained in:
Andrew Tridgell 2015-05-24 15:51:44 +10:00
parent 6000bb0c32
commit 3ec8857fbc
2 changed files with 3 additions and 2 deletions
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2
libraries/AC_PID/AC_HELI_PID.cpp
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@ -56,7 +56,6 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa
float AC_HELI_PID::get_vff(float requested_rate) float AC_HELI_PID::get_vff(float requested_rate)
{ {
_pid_info.FF = (float)requested_rate * _vff; _pid_info.FF = (float)requested_rate * _vff;
_pid_info.desired = requested_rate;
return _pid_info.FF; return _pid_info.FF;
} }
@ -73,7 +72,6 @@ float AC_HELI_PID::get_aff(float requested_rate)
_pid_info.AFF = derivative * _aff; _pid_info.AFF = derivative * _aff;
_last_requested_rate = requested_rate; _last_requested_rate = requested_rate;
_pid_info.desired = requested_rate;
return _pid_info.AFF; return _pid_info.AFF;
} }

3
libraries/AC_PID/AC_PID.h
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@ -76,6 +76,9 @@ public:
float get_integrator() const { return _integrator; } float get_integrator() const { return _integrator; }
void set_integrator(float i) { _integrator = i; } void set_integrator(float i) { _integrator = i; }
// set the designed rate (for logging purposes)
void set_desired_rate(float desired) { _pid_info.desired = desired; }
const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; } const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; }
// parameter var table // parameter var table