public double GetParam(Ctrl ctrl, PID.Param param)
{
double ans = double.MaxValue;
lock (this.pidMutex)
{
switch (ctrl)
{
case Ctrl.THROTTLE:
if (this.throttlePid != null)
{
ans = this.throttlePid.GetParam(param);
}
break;
case Ctrl.ROLL:
if (this.rollPid != null)
{
ans = this.rollPid.GetParam(param);
}
break;
case Ctrl.PITCH:
if (this.pitchPid != null)
{
ans = this.pitchPid.GetParam(param);
}
break;
case Ctrl.YAW:
if (this.yawPid != null)
{
ans = this.yawPid.GetParam(param);
}
break;
}
}
return(ans);
}
public bool RefreshParam(Ctrl ctrl, PID.Param param, double val)
{
bool ok = false;
lock (this.pidMutex)
{
switch (ctrl)
{
case Ctrl.THROTTLE:
if (this.throttlePid != null)
{
ok = this.throttlePid.RefreshParam(param, val);
}
break;
case Ctrl.ROLL:
if (this.rollPid != null)
{
ok = this.rollPid.RefreshParam(param, val);
}
break;
case Ctrl.PITCH:
if (this.pitchPid != null)
{
ok = this.pitchPid.RefreshParam(param, val);
}
break;
case Ctrl.YAW:
if (this.yawPid != null)
{
ok = this.yawPid.RefreshParam(param, val);
}
break;
}
}
return(ok);
}
