AC_P.h

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#pragma once


#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <stdlib.h>
#include <cmath>

class AC_P {
public:

    AC_P(const float &initial_p = 0.0f)
    {
        AP_Param::setup_object_defaults(this, var_info);
        _kp = initial_p;
    }

    float       get_p(float error) const;

    void        load_gains();

    void        save_gains();



    void operator() (const float p) { _kp = p; }

    // accessors
    AP_Float    &kP() { return _kp; }
    const AP_Float &kP() const { return _kp; }
    void        kP(const float v) { _kp.set(v); }

    static const struct AP_Param::GroupInfo        var_info[];

private:
    AP_Float        _kp;
};