42 #include <px4_platform_common/defines.h> 75 return getKP() * input +
76 getKI() * getIntegral().update(input);
79 float getKP() {
return _kP.get(); }
80 float getKI() {
return _kI.get(); }
BlockPI(SuperBlock *parent, const char *name)
control::BlockParamFloat _kP
A proportional-integral controller.
BlockIntegral & getIntegral()
A rectangular integrator.
control::BlockParamFloat _kI
float update(float input)