teamALI
/
HB2018
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Diff: HbAttitude.cpp
- Revision:
- 70:a7b1e3eec51b
- Parent:
- 52:33fa8060dd8c
diff -r 0b3b290137b6 -r a7b1e3eec51b HbAttitude.cpp
--- a/HbAttitude.cpp Mon Mar 11 06:24:39 2019 +0000
+++ b/HbAttitude.cpp Mon Mar 11 08:58:28 2019 +0000
@@ -106,6 +106,16 @@
}
//=========================================================
+//前回値・積分地リセット
+//=========================================================
+void HbAttitude::resetValue()
+{
+ sum = 0;//積分値
+ old = 0;//1サンプル前のデータ(微分用)
+ oAng = 0;//1サンプル前の角度
+}
+
+//=========================================================
//パラメータゲッター
//=========================================================
float HbAttitude::getPp(){return p;}