@ -78,7 +78,10 @@ public:
/// @returns The updated control output.
///
//long get_pi(int32_t error, float dt);
long get_pi(int32_t error, float dt, bool calc_i=true);
int32_t get_pi(int32_t error, float dt);
int32_t get_p(int32_t error);
int32_t get_i(int32_t error, float dt);
/// Reset the PI integrator