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

APM_Control: expose parameters as AP_Float

Browse Source
This commit is contained in:
Andrew Tridgell 2016-05-06 14:43:25 +10:00
parent 412dc10353
commit a9f1b608ed
2 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/APM_Control/AP_PitchController.h
View File

@ -30,11 +30,10 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// tuning accessors AP_Float &kP(void) { return gains.P; }
void kP(float v) { gains.P.set(v); } AP_Float &kI(void) { return gains.I; }
void kI(float v) { gains.I.set(v); } AP_Float &kD(void) { return gains.D; }
void kD(float v) { gains.D.set(v); } AP_Float &kFF(void) { return gains.FF; }
void kFF(float v) { gains.FF.set(v); }
private: private:
const AP_Vehicle::FixedWing &aparm; const AP_Vehicle::FixedWing &aparm;

5
libraries/APM_Control/AP_RollController.h
View File

@ -36,6 +36,11 @@ public:
void kI(float v) { gains.I.set(v); } void kI(float v) { gains.I.set(v); }
void kD(float v) { gains.D.set(v); } void kD(float v) { gains.D.set(v); }
void kFF(float v) { gains.FF.set(v); } void kFF(float v) { gains.FF.set(v); }
AP_Float &kP(void) { return gains.P; }
AP_Float &kI(void) { return gains.I; }
AP_Float &kD(void) { return gains.D; }
AP_Float &kFF(void) { return gains.FF; }
private: private:
const AP_Vehicle::FixedWing &aparm; const AP_Vehicle::FixedWing &aparm;