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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-29 18:00:01 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-29 18:00:01 +0200 |
| commit | 7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43 (patch) | |
| tree | a097bd45b6f36e0180b9847a314d9736028dc15d /apps/systemlib/pid/pid.c | |
| parent | 1725069c188fddce7e22026ca77edd5ea980b54a (diff) | |
| download | px4-firmware-7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43.tar.gz px4-firmware-7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43.tar.bz2 px4-firmware-7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43.zip | |
Fixed heading calculation, fixed heading controller
Diffstat (limited to 'apps/systemlib/pid/pid.c')
| -rw-r--r-- | apps/systemlib/pid/pid.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c index 61dd5757f..cff5e6bbe 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -179,7 +179,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo pid->error_previous = error; } - float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd); + float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd); if (isfinite(output)) { pid->last_output = output; |