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AC_PID: fill in desired rate for heli PID

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Andrew Tridgell 2015-05-23 10:04:35 +10:00
parent 09476bf9d3
commit e79a21d8c2
1 changed files with 1 additions and 0 deletions
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libraries/AC_PID/AC_HELI_PID.cpp
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@ -49,6 +49,7 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa
float AC_HELI_PID::get_ff(float requested_rate)
{
_pid_info.FF = (float)requested_rate * _ff;
_pid_info.desired = requested_rate;
return _pid_info.FF;
}