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| author | Tobias Naegeli <naegelit@student.ethz.ch> | 2012-11-01 16:50:52 +0100 |
|---|---|---|
| committer | Tobias Naegeli <naegelit@student.ethz.ch> | 2012-11-01 16:50:52 +0100 |
| commit | 80ac43e21dadf727133201663169e6e931bc5a35 (patch) | |
| tree | c865806b1b329e84314bdbeeb0d15007ea742d62 /apps/systemlib/pid | |
| parent | 6af2ea9fbc019b023e2b1201b788c9185690e193 (diff) | |
| download | px4-firmware-80ac43e21dadf727133201663169e6e931bc5a35.tar.gz px4-firmware-80ac43e21dadf727133201663169e6e931bc5a35.tar.bz2 px4-firmware-80ac43e21dadf727133201663169e6e931bc5a35.zip | |
Fine tuning of manual control
Diffstat (limited to 'apps/systemlib/pid')
| -rw-r--r-- | apps/systemlib/pid/pid.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c index 0358caa25..dd8b6adc6 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -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; |