// Constructor
AC_PI_2D::AC_PI_2D(float initial_p, float initial_i, float initial_imax, float initial_filt_hz, float dt) :
_dt(dt)
{
// load parameter values from eeprom
AP_Param::setup_object_defaults(this, var_info);
_kp = initial_p;
_ki = initial_i;
_imax = fabsf(initial_imax);
filt_hz(initial_filt_hz);
// reset input filter to first value received
_flags._reset_filter = true;
}
// Constructor
AC_PID::AC_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt) :
_dt(dt),
_integrator(0.0f),
_input(0.0f),
_derivative(0.0f)
{
// load parameter values from eeprom
AP_Param::setup_object_defaults(this, var_info);
_kp = initial_p;
_ki = initial_i;
_kd = initial_d;
_imax = fabs(initial_imax);
filt_hz(initial_filt_hz);
// reset input filter to first value received
_flags._reset_filter = true;
}