APM_Control: expose parameters as AP_Float

libraries/APM_Control/AP_PitchController.h

@@ -30,11 +30,10 @@ public:
 
 	static const struct AP_Param::GroupInfo var_info[];
 
-    // tuning accessors
-    void kP(float v) { gains.P.set(v); }
-    void kI(float v) { gains.I.set(v); }
-    void kD(float v) { gains.D.set(v); }
-    void kFF(float v) { gains.FF.set(v); }
+    AP_Float &kP(void) { return gains.P; }
+    AP_Float &kI(void) { return gains.I; }
+    AP_Float &kD(void) { return gains.D; }
+    AP_Float &kFF(void) { return gains.FF; }
     
 private:
 	const AP_Vehicle::FixedWing &aparm;

libraries/APM_Control/AP_RollController.h

@@ -36,6 +36,11 @@ public:
     void kI(float v) { gains.I.set(v); }
     void kD(float v) { gains.D.set(v); }
     void kFF(float v) { gains.FF.set(v); }
+
+    AP_Float &kP(void) { return gains.P; }
+    AP_Float &kI(void) { return gains.I; }
+    AP_Float &kD(void) { return gains.D; }
+    AP_Float &kFF(void) { return gains.FF; }
     
 private:
 	const AP_Vehicle::FixedWing &aparm;