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Merge branch 'master' of github.com:pixhawk/Firmware

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Lorenz Meier
2012-11-02 12:50:15 +01:00
parent a5193ba841 80ac43e21d
commit 55515f2e7e
5 changed files with 70 additions and 67 deletions
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apps/systemlib/pid/pid.c
+2 -2
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@@ -172,9 +172,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
// Calculate the output. Limit output magnitude to pid->limit
float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
if (output > pid->limit) output = pid->limit;
//if (output > pid->limit) output = pid->limit;
if (output < -pid->limit) output = -pid->limit;
//if (output < -pid->limit) output = -pid->limit;
if (isfinite(output)) {
pid->last_output = output;