diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/thrust_pid.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/thrust_pid.c | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/multirotor_pos_control/thrust_pid.c b/src/modules/multirotor_pos_control/thrust_pid.c index 51dcd7df2..b985630ae 100644 --- a/src/modules/multirotor_pos_control/thrust_pid.c +++ b/src/modules/multirotor_pos_control/thrust_pid.c @@ -182,3 +182,8 @@ __EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, floa return pid->last_output; } + +__EXPORT void thrust_pid_set_integral(thrust_pid_t *pid, float i) +{ + pid->integral = i; +} |