Index: trunk/doc/Flair/_pid_thrust_8h_source.html
===================================================================
--- trunk/doc/Flair/_pid_thrust_8h_source.html	(revision 62)
+++ trunk/doc/Flair/_pid_thrust_8h_source.html	(revision 68)
@@ -136,34 +136,36 @@
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-<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a4987d6892e567cce5af9b22dcf065542">Reset</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div>
-<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ad82440a1c4d9b0409c8549f900991223">ResetI</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
-<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a3ec37a57185a1f3164e081e89b08e378">ResetOffset</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div>
-<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a9109d86fb350919a673af114c5d66f0f">SetOffset</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div>
-<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a3658197f9d580bc810fc65451399f307">GetOffset</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div>
-<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ac556b3702ad3352fdfad1bde19f16af0">OffsetStepUp</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div>
-<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ac3810b92073bc3e5062a387e089b2295">OffsetStepDown</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div>
-<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#afdbec017ebadc52cef7e901ecd92d959">SetValues</a>(<span class="keywordtype">float</span> p, <span class="keywordtype">float</span> d);</div>
-<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div>
-<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a8b77f7720b1406f48baa3c43cf87765a">UseDefaultPlot</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position);</div>
-<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div>
-<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">private</span>:</div>
-<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data);</div>
-<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div>
-<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  PidThrust_impl *pimpl_;</div>
-<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;};</div>
-<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;} <span class="comment">// end namespace filter</span></div>
-<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;} <span class="comment">// end namespace flair</span></div>
-<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="preprocessor">#endif // PIDTHRUST_H</span></div>
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+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ad82440a1c4d9b0409c8549f900991223">ResetI</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a240df5714f7ffe4fd2cb7765a21389ee">SetOffset</a>(<span class="keywordtype">float</span> value);</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  </div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a5e856db9c472b9ca3b6b69eb54ffa18e">SetDefaultOffset</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a746b8f8afd363524b6b84a1fc8d11da2">GetOffset</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a35d8c2f7a19faaae43b3a6d2d3cc211a">GetIntegral</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ac556b3702ad3352fdfad1bde19f16af0">OffsetStepUp</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ac3810b92073bc3e5062a387e089b2295">OffsetStepDown</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#afdbec017ebadc52cef7e901ecd92d959">SetValues</a>(<span class="keywordtype">float</span> p, <span class="keywordtype">float</span> d);</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a8b77f7720b1406f48baa3c43cf87765a">UseDefaultPlot</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position);</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data);</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  PidThrust_impl *pimpl_;</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;};</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;} <span class="comment">// end namespace filter</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;} <span class="comment">// end namespace flair</span></div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="preprocessor">#endif // PIDTHRUST_H</span></div>
 <div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:94</div></div>
-<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a9109d86fb350919a673af114c5d66f0f"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a9109d86fb350919a673af114c5d66f0f">flair::filter::PidThrust::SetOffset</a></div><div class="ttdeci">void SetOffset(void)</div><div class="ttdoc">Set offset to specified value in ground station. </div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_control_law_html"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html">flair::filter::ControlLaw</a></div><div class="ttdoc">Base class for control law input must be created by reimplemented class. output is created by this cl...</div><div class="ttdef"><b>Definition:</b> ControlLaw.h:36</div></div>
 <div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
+<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a240df5714f7ffe4fd2cb7765a21389ee"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a240df5714f7ffe4fd2cb7765a21389ee">flair::filter::PidThrust::SetOffset</a></div><div class="ttdeci">void SetOffset(float value)</div><div class="ttdoc">Set offset to a specified value. </div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html">flair::filter::PidThrust</a></div><div class="ttdoc">Class defining a Pid for Thrust. This Pid as an extra offset for compensating gravity. </div><div class="ttdef"><b>Definition:</b> PidThrust.h:33</div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_ac556b3702ad3352fdfad1bde19f16af0"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#ac556b3702ad3352fdfad1bde19f16af0">flair::filter::PidThrust::OffsetStepUp</a></div><div class="ttdeci">bool OffsetStepUp(void)</div><div class="ttdoc">Step up the offset according to specified value in ground station. </div></div>
@@ -173,9 +175,10 @@
 <div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_ad82440a1c4d9b0409c8549f900991223"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#ad82440a1c4d9b0409c8549f900991223">flair::filter::PidThrust::ResetI</a></div><div class="ttdeci">void ResetI(void)</div><div class="ttdoc">Reset integral to 0. </div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_ac3810b92073bc3e5062a387e089b2295"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#ac3810b92073bc3e5062a387e089b2295">flair::filter::PidThrust::OffsetStepDown</a></div><div class="ttdeci">bool OffsetStepDown(void)</div><div class="ttdoc">Step down the offset according to specified value in ground station. </div></div>
-<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a3658197f9d580bc810fc65451399f307"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a3658197f9d580bc810fc65451399f307">flair::filter::PidThrust::GetOffset</a></div><div class="ttdeci">float GetOffset(void)</div><div class="ttdoc">Get offset. </div></div>
+<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a746b8f8afd363524b6b84a1fc8d11da2"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a746b8f8afd363524b6b84a1fc8d11da2">flair::filter::PidThrust::GetOffset</a></div><div class="ttdeci">float GetOffset(void) const </div><div class="ttdoc">Get offset. </div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_ab46191511449bc44699102a239eb82f6"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#ab46191511449bc44699102a239eb82f6">flair::filter::PidThrust::PidThrust</a></div><div class="ttdeci">PidThrust(const gui::LayoutPosition *position, std::string name)</div><div class="ttdoc">Constructor. </div></div>
-<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a4987d6892e567cce5af9b22dcf065542"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a4987d6892e567cce5af9b22dcf065542">flair::filter::PidThrust::Reset</a></div><div class="ttdeci">void Reset(void)</div><div class="ttdoc">Reset integral and offset to 0. </div></div>
+<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a35d8c2f7a19faaae43b3a6d2d3cc211a"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a35d8c2f7a19faaae43b3a6d2d3cc211a">flair::filter::PidThrust::GetIntegral</a></div><div class="ttdeci">float GetIntegral(void) const </div><div class="ttdoc">Get intergral part. </div></div>
+<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a4987d6892e567cce5af9b22dcf065542"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a4987d6892e567cce5af9b22dcf065542">flair::filter::PidThrust::Reset</a></div><div class="ttdeci">void Reset(void)</div><div class="ttdoc">Reset the control law equivalent to: ResetI(); SetDefaultOffset(); SetValues(0,0);. </div></div>
+<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a5e856db9c472b9ca3b6b69eb54ffa18e"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a5e856db9c472b9ca3b6b69eb54ffa18e">flair::filter::PidThrust::SetDefaultOffset</a></div><div class="ttdeci">void SetDefaultOffset(void)</div><div class="ttdoc">Set offset to specified value in ground station. </div></div>
 <div class="ttc" id="classflair_1_1gui_1_1_layout_position_html"><div class="ttname"><a href="classflair_1_1gui_1_1_layout_position.html">flair::gui::LayoutPosition</a></div><div class="ttdoc">Class to define a position in a layout on the ground station. </div><div class="ttdef"><b>Definition:</b> LayoutPosition.h:28</div></div>
-<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a3ec37a57185a1f3164e081e89b08e378"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a3ec37a57185a1f3164e081e89b08e378">flair::filter::PidThrust::ResetOffset</a></div><div class="ttdeci">void ResetOffset(void)</div><div class="ttdoc">Reset offset to 0. </div></div>
 <div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a8b77f7720b1406f48baa3c43cf87765a"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a8b77f7720b1406f48baa3c43cf87765a">flair::filter::PidThrust::UseDefaultPlot</a></div><div class="ttdeci">void UseDefaultPlot(const gui::LayoutPosition *position)</div><div class="ttdoc">Use default plot. </div></div>
 </div><!-- fragment --></div><!-- contents -->
@@ -185,5 +188,5 @@
   <ul>
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