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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-19 09:31:33 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-19 09:31:33 +0200 |
| commit | f96bb824d4fc6f6d36ddf24e8879d3025af39d70 (patch) | |
| tree | 15af468057e6115df395fba8c970084e5e6ee7f9 /src/modules/multirotor_pos_control/thrust_pid.h | |
| parent | 3370ceceaf706dda0856888b09c1086e8bf79c8d (diff) | |
| download | px4-firmware-f96bb824d4fc6f6d36ddf24e8879d3025af39d70.tar.gz px4-firmware-f96bb824d4fc6f6d36ddf24e8879d3025af39d70.tar.bz2 px4-firmware-f96bb824d4fc6f6d36ddf24e8879d3025af39d70.zip | |
multirotor_pos_control: reset integrals when disarmed
Diffstat (limited to 'src/modules/multirotor_pos_control/thrust_pid.h')
| -rw-r--r-- | src/modules/multirotor_pos_control/thrust_pid.h | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/modules/multirotor_pos_control/thrust_pid.h b/src/modules/multirotor_pos_control/thrust_pid.h index 551c032fe..5e169c1ba 100644 --- a/src/modules/multirotor_pos_control/thrust_pid.h +++ b/src/modules/multirotor_pos_control/thrust_pid.h @@ -69,6 +69,7 @@ typedef struct { __EXPORT void thrust_pid_init(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max, uint8_t mode, float dt_min); __EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max); __EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt, float r22); +__EXPORT void thrust_pid_set_integral(thrust_pid_t *pid, float i); __END_DECLS |