pid.py: Made Controller.vehicle property (f3e866cf) · Commits · Ibrahim Ahmed / multirotor

multirotor/controller/pid.py

+19 −0

Changes for multirotor/controller/pid.py: 19 added lines, 0 removed lines.
Original line number	Diff line number	Diff line
		@@ -490,6 +490,14 @@ class Controller:
		The controller will only renew an action after this interval has passed.
		Otherwise it will apply the last action. For e.g. if interval=1, and vehicle dt=0.1, a
		new action will only be applied every interval/dt=10 steps. by default 1
		feedforward_weight: float, optional
		The weight to assign to a separately specified velocity reference,
		which overrides the velocity signal given by the position controller.

		Attributes
		----------
		vehicle: Multirotor
		The vehicle being controlled.
		"""
		self.ctrl_p = ctrl_p
		self.ctrl_v = ctrl_v
		@@ -569,6 +577,17 @@ class Controller:
		(self.ctrl_p.state, self.ctrl_v.state, self.ctrl_a.state,
		self.ctrl_r.state, self.ctrl_z.state, self.ctrl_vz.state)
		)
		@property
		def vehicle(self) -> Multirotor:
		return self.ctrl_p.vehicle
		@vehicle.setter
		def vehicle(self, v: Multirotor):
		self.ctrl_p.vehicle = v
		self.ctrl_v.vehicle = v
		self.ctrl_a.vehicle = v
		self.ctrl_r.vehicle = v
		self.ctrl_z.vehicle = v
		self.ctrl_vz.vehicle = v


		def step(