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Provide access to FW integrators

This commit is contained in:
Andreas Antener 2017-11-26 15:23:19 +01:00 committed by Lorenz Meier
parent 22a6abbca2
commit ee57908911
2 changed files with 6 additions and 0 deletions
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5
attitude_fw/ecl_controller.cpp
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@ -119,6 +119,11 @@ float ECL_Controller::get_desired_bodyrate()
return _bodyrate_setpoint; return _bodyrate_setpoint;
} }
float ECL_Controller::get_integrator()
{
return _integrator;
}
float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float maxspeed) float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float maxspeed)
{ {
float airspeed_result = airspeed; float airspeed_result = airspeed;

1
attitude_fw/ecl_controller.h
View File

@ -97,6 +97,7 @@ public:
float get_rate_error(); float get_rate_error();
float get_desired_rate(); float get_desired_rate();
float get_desired_bodyrate(); float get_desired_bodyrate();
float get_integrator();
void reset_integrator(); void reset_integrator();