Exemple #1
0
// 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;
}
Exemple #2
0
// 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;
}