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AC_PID: Remove get_leaky_i function which is now found in AC_HELI_PID.

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This commit is contained in:
Robert Lefebvre 2014-05-02 20:47:59 -04:00 committed by Randy Mackay
parent 7c9249de93
commit f1c3f2a3d1
2 changed files with 0 additions and 20 deletions
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19
libraries/AC_PID/AC_PID.cpp
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@ -45,25 +45,6 @@ float AC_PID::get_i(float error, float dt)
return 0;
}
// This is an integrator which tends to decay to zero naturally
// if the error is zero.
float AC_PID::get_leaky_i(float error, float dt, float leak_rate)
{
if((_ki != 0) && (dt != 0)){
_integrator -= (float)_integrator * leak_rate;
_integrator += ((float)error * _ki) * dt;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
return _integrator;
}
return 0;
}
float AC_PID::get_d(float input, float dt)
{
if ((_kd != 0) && (dt != 0)) {

1
libraries/AC_PID/AC_PID.h
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@ -69,7 +69,6 @@ public:
float get_p(float error) const;
float get_i(float error, float dt);
float get_d(float error, float dt);
float get_leaky_i(float error, float dt, float leak_rate);
/// Reset the PID integrator
///