Line data    Source code

       1             : /// @file       AC_P.cpp
       2             : /// @brief      Single-axis P controller with EEPROM-backed gain storage.
       3             : 
       4             : #include <AP_Math/AP_Math.h>
       5             : #include "AC_P.h"
       6             : 
       7             : const AP_Param::GroupInfo AC_P::var_info[] = {
       8             :     // @Param: P
       9             :     // @DisplayName: P Proportional Gain
      10             :     // @Description: P Gain which produces an output value that is proportional to the current error value
      11             :     AP_GROUPINFO_FLAGS_DEFAULT_POINTER("P",    0, AC_P, _kp, default_kp),
      12             :     AP_GROUPEND
      13             : };
      14             : 
      15       30540 : float AC_P::get_p(float error) const
      16             : {
      17       30540 :     return (float)error * _kp;
      18             : }
      19             : 
      20             : // Loads controller configuration from EEPROM, including gains and filter frequencies. (not used)
      21           0 : void AC_P::load_gains()
      22             : {
      23           0 :     _kp.load();
      24           0 : }
      25             : 
      26             : // Saves controller configuration from EEPROM. Used by autotune to save gains before tuning.
      27          17 : void AC_P::save_gains()
      28             : {
      29          17 :     _kp.save();
      30          17 : }