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Fine tuning of manual control

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This commit is contained in:
Tobias Naegeli
2012-11-01 16:50:52 +01:00
parent 6af2ea9fbc
commit 80ac43e21d
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;