aepko/Ardupilot2
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Don't zero fields in the ctor that can be zeroed by reset_I; the code gets replicated for every static instance of the class, which is obscene.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@941 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2010-11-27 00:54:21 +00:00
parent 0f9ac71e6a
commit e699812af4
1 changed files with 2 additions and 8 deletions
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10
libraries/PID/PID.h
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@ -20,10 +20,7 @@ public:
/// ///
PID(uint16_t address = 0) : PID(uint16_t address = 0) :
_gain_array(0), _gain_array(0),
_address(address), _address(address)
_integrator(0),
_last_error(0),
_last_derivative(0)
{} {}
/// Constructor /// Constructor
@ -34,10 +31,7 @@ public:
/// ///
PID(float *gain_array) : PID(float *gain_array) :
_gain_array(gain_array), _gain_array(gain_array),
_address(0), _address(0)
_integrator(0),
_last_error(0),
_last_derivative(0)
{} {}
/// Iterate the PID, return the new control value /// Iterate the PID, return the new control value