AC_PID: AC_PI_2D format changes

libraries/AC_PID/AC_PI_2D.h

@@ -19,7 +19,7 @@ public:
     // Constructor for PID
     AC_PI_2D(float initial_p, float initial_i, float initial_imax, float initial_filt_hz, float dt);
 
-    // set_dt - set time step in seconds
+    // set time step in seconds
     void set_dt(float dt);
 
     // set_input - set input to PID controller
@@ -57,10 +57,10 @@ public:
     float get_filt_alpha() const { return _filt_alpha; }
 
     // set accessors
-    void        kP(const float v) { _kp.set(v); }
-    void        kI(const float v) { _ki.set(v); }
-    void        imax(const float v) { _imax.set(fabsf(v)); }
-    void        filt_hz(const float v);
+    void kP(float v) { _kp.set(v); }
+    void kI(float v) { _ki.set(v); }
+    void imax(float v) { _imax.set(fabsf(v)); }
+    void filt_hz(float hz);
 
     Vector2f get_integrator() const { return _integrator; }
     void set_integrator(const Vector2f &i) { _integrator = i; }
@@ -69,7 +69,7 @@ public:
     // parameter var table
     static const struct AP_Param::GroupInfo var_info[];
 
-protected:
+private:
 
     // calc_filt_alpha - recalculate the input filter alpha
     void calc_filt_alpha();