AC_PosControl: add get_pos_z_kP accessor

8 years ago · 127404acea
1 changed files with 3 additions and 0 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@ -172,6 +172,9 @@ public:
				@@ -172,6 +172,9 @@ public:
    float get_leash_down_z() const { return _leash_down_z; }
    float get_leash_up_z() const { return _leash_up_z; }

+    /// get_pos_z_kP - returns z position controller's kP gain
+    float get_pos_z_kP() const { return _p_pos_z.kP(); }
+
    ///
    /// xy position controller
    ///