From 127404acea380ec1e8832cdac44d3873233adfd6 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 5 Jan 2017 15:23:04 +0900 Subject: [PATCH] AC_PosControl: add get_pos_z_kP accessor --- libraries/AC_AttitudeControl/AC_PosControl.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index f2ca001970..3cfb8f9fbb 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -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 ///