pid en fix

2026-09-23 16:06:54 +08:00 · 2019-05-27 13:07:26 +02:00
parent 4cbaf43a3b
commit 4bf837e808
1 changed files with 1 additions and 0 deletions
@@ -241,6 +241,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
    acc_sat         = 0.0;
    torque_sat      = 0.0;
    ctx->sat        = 0.0;
+    PIN(torque_cmd) = 0.0;
  }

  PIN(pos_error)      = pos_error;