From 98a26d19e6f27ed9e25ed413475b4d254ed978b0 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 6 Dec 2011 21:10:30 -0800 Subject: [PATCH] Split P and I term --- libraries/APM_PI/APM_PI.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/libraries/APM_PI/APM_PI.h b/libraries/APM_PI/APM_PI.h index c94e1cb951..accfab992c 100644 --- a/libraries/APM_PI/APM_PI.h +++ b/libraries/APM_PI/APM_PI.h @@ -78,7 +78,10 @@ public: /// @returns The updated control output. /// //long get_pi(int32_t error, float dt); - long get_pi(int32_t error, float dt, bool calc_i=true); + int32_t get_pi(int32_t error, float dt); + int32_t get_p(int32_t error); + int32_t get_i(int32_t error, float dt); + /// Reset the PI integrator ///