AC_PID: params always use set method

libraries/AC_PID/AC_P.h

@@ -54,7 +54,7 @@ public:
     //@{
 
     /// Overload the function call operator to permit relatively easy initialisation
-    void operator() (const float p) { _kp = p; }
+    void operator() (const float p) { _kp.set(p); }
 
     // accessors
     AP_Float    &kP() { return _kp; }

libraries/AC_PID/AC_PID.cpp

@@ -282,7 +282,7 @@ void AC_PID::load_gains()
     _kd.load();
     _kff.load();
     _kimax.load();
-    _kimax = fabsf(_kimax);
+    _kimax.set(fabsf(_kimax));
     _filt_T_hz.load();
     _filt_E_hz.load();
     _filt_D_hz.load();
@@ -304,14 +304,14 @@ void AC_PID::save_gains()
 /// Overload the function call operator to permit easy initialisation
 void AC_PID::operator()(float p_val, float i_val, float d_val, float ff_val, float imax_val, float input_filt_T_hz, float input_filt_E_hz, float input_filt_D_hz, float dt)
 {
-    _kp = p_val;
-    _ki = i_val;
-    _kd = d_val;
-    _kff = ff_val;
-    _kimax = fabsf(imax_val);
-    _filt_T_hz = input_filt_T_hz;
-    _filt_E_hz = input_filt_E_hz;
-    _filt_D_hz = input_filt_D_hz;
+    _kp.set(p_val);
+    _ki.set(i_val);
+    _kd.set(d_val);
+    _kff.set(ff_val);
+    _kimax.set(fabsf(imax_val));
+    _filt_T_hz.set(input_filt_T_hz);
+    _filt_E_hz.set(input_filt_E_hz);
+    _filt_D_hz.set(input_filt_D_hz);
     _dt = dt;
 }
 

libraries/AC_PID/AC_PI_2D.cpp

@@ -60,7 +60,7 @@ void AC_PI_2D::filt_hz(float hz)
     _filt_hz.set(fabsf(hz));
 
     // sanity check _filt_hz
-    _filt_hz = MAX(_filt_hz, AC_PI_2D_FILT_HZ_MIN);
+    _filt_hz.set(MAX(_filt_hz, AC_PI_2D_FILT_HZ_MIN));
 
     // calculate the input filter alpha
     calc_filt_alpha();
@@ -135,7 +135,7 @@ void AC_PI_2D::load_gains()
     _kp.load();
     _ki.load();
     _imax.load();
-    _imax = fabsf(_imax);
+    _imax.set(fabsf(_imax));
     _filt_hz.load();
 
     // calculate the input filter alpha
@@ -154,10 +154,10 @@ void AC_PI_2D::save_gains()
 /// Overload the function call operator to permit easy initialisation
 void AC_PI_2D::operator() (float p, float i, float imaxval, float input_filt_hz, float dt)
 {
-    _kp = p;
-    _ki = i;
-    _imax = fabsf(imaxval);
-    _filt_hz = input_filt_hz;
+    _kp.set(p);
+    _ki.set(i);
+    _imax.set(fabsf(imaxval));
+    _filt_hz.set(input_filt_hz);
     _dt = dt;
     // calculate the input filter alpha
     calc_filt_alpha();