From 54b02ee0f32199a5376a923319366cd188047637 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Thu, 24 Feb 2022 10:18:31 +0100
Subject: [PATCH] [PID] Made public controller variables
---
src/shared/algorithms/PID.h | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/src/shared/algorithms/PID.h b/src/shared/algorithms/PID.h
index 14270c16a..727f1e547 100644
--- a/src/shared/algorithms/PID.h
+++ b/src/shared/algorithms/PID.h
@@ -84,13 +84,13 @@ public:
double getI() { return i; }
-private:
- const double Kp; // Proportional factor.
- const double Ki; // Integral factor.
- const double Ts; // Sampling period.
- const double uMin, uMax; // Anti-windup limits.
- double i = 0; // Integral contribution.
+ double Kp; // Proportional factor.
+ double Ki; // Integral factor.
+ double Ts; // Sampling period.
+ double uMin, uMax; // Anti-windup limits.
+private:
+ double i = 0; // Integral contribution.
bool saturation = false;
};
--
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