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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-05 13:15:35 -0800 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-05 13:15:35 -0800 |
| commit | 7d76a8a57b41c82db0712dd0544e67d1ce97d89c (patch) | |
| tree | d4dd439ef04d0ea9b8b89355b39acdb13c7fdbaa /apps/systemlib | |
| parent | 976545861a1c7336203a1677120633f14d215a40 (diff) | |
| parent | 59725ccd3a80fd32ed8ef08025daeb4372adb1f1 (diff) | |
| download | px4-firmware-7d76a8a57b41c82db0712dd0544e67d1ce97d89c.tar.gz px4-firmware-7d76a8a57b41c82db0712dd0544e67d1ce97d89c.tar.bz2 px4-firmware-7d76a8a57b41c82db0712dd0544e67d1ce97d89c.zip | |
Merge pull request #45 from thomasgubler/master_origin
re-adding pid limitation & mavlink waypoint handling fix
Diffstat (limited to 'apps/systemlib')
| -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 dd8b6adc6..0358caa25 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; |