aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Split P and I term

Browse Source
This commit is contained in:
Jason Short 2011-12-06 21:10:30 -08:00
parent ae917f9e71
commit 98a26d19e6
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/APM_PI/APM_PI.h
View File

@ -78,7 +78,10 @@ public:
/// @returns The updated control output. /// @returns The updated control output.
/// ///
//long get_pi(int32_t error, float dt); //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 /// Reset the PI integrator
/// ///