From 7598c02f5153d6fa1b6333d0b2c5853ea89efbff Mon Sep 17 00:00:00 2001
From: "james.goppert" <james.goppert@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 25 Nov 2010 23:26:44 +0000
Subject: [PATCH] Added load/save gain overloads for float arrays to PID,
 supports mavlink style gain get/set now

git-svn-id: https://arducopter.googlecode.com/svn/trunk@928 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/PID/PID.cpp | 18 ++++++++++++++++++
 libraries/PID/PID.h   |  2 ++
 2 files changed, 20 insertions(+)

diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index 948d978bd8..955fab10e6 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -132,6 +132,24 @@ PID::save_gains(int address)
 	eeprom_write_word((uint16_t *)	(address + 6), 	(int)_imax/100);
 }
 
+void
+PID::load_gains(float * gain_array)
+{
+	_kp 	= gain_array[0]/ 1000.0;
+	_ki 	= gain_array[1]/ 1000.0;
+	_kd 	= gain_array[2]/ 1000.0;
+	_imax 	= gain_array[3]/ 1000.0;
+}
+
+void
+PID::save_gains(float * gain_array)
+{
+	gain_array[0] = _kp * 1000;
+	gain_array[1] = _ki * 1000;
+	gain_array[2] = _kd * 1000;
+	gain_array[3] = _imax * 1000;
+}
+
 /*
 float
 read_EE_compressed_float(int address, byte places)
diff --git a/libraries/PID/PID.h b/libraries/PID/PID.h
index f45be8cb74..9b694b6af4 100644
--- a/libraries/PID/PID.h
+++ b/libraries/PID/PID.h
@@ -13,6 +13,8 @@ public:
 	void	reset_I();
 	void 	load_gains(int address);
 	void 	save_gains(int address);
+	void 	load_gains(float * gain_array);
+	void 	save_gains(float * gain_array);
 	void 	set_P(float p);
 	void 	set_I(float i);
 	void 	set_D(float d);