[Ether]

Originally Posted by jwakeman

I think the reason they are part of the critical region is that they are accessed in the calculation of the output of the controller and can also be modified at any time by the application threads via methods such as this one.

void PIDController::SetInputRange(float minimumInput, float maximumInput)
{
	CRITICAL_REGION(m_semaphore)
	{
		m_minimumInput = minimumInput;
		m_maximumInput = maximumInput;	
	}
	END_REGION;

	SetSetpoint(m_setpoint);
}

Fair enough. They're not constants.

The purist in me would grab copies of the variables in the critical region and move the calculation outside the critical region, but it would hardly make any difference in this case.