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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 12:33:35 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 12:33:35 +0400 |
| commit | bf0de775329acfc8c450b2958222a83f2a32f977 (patch) | |
| tree | 84d3b08b296af82e36abc46b4f79bde395355dac /src | |
| parent | dec1fdbde0c7bb6f3eacae97ab9656f77294cbfc (diff) | |
| download | px4-firmware-bf0de775329acfc8c450b2958222a83f2a32f977.tar.gz px4-firmware-bf0de775329acfc8c450b2958222a83f2a32f977.tar.bz2 px4-firmware-bf0de775329acfc8c450b2958222a83f2a32f977.zip | |
Critical bugfix in PID
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/systemlib/pid/pid.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index ada364e37..2aafe0636 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -155,7 +155,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo pid->error_previous_filtered = error_filtered; } else if (pid->mode == PID_MODE_DERIVATIV_CALC_NO_SP) { - error_filtered = pid->error_previous_filtered + (val - pid->error_previous_filtered) * pid->diff_filter_factor; + error_filtered = pid->error_previous_filtered + (- val - pid->error_previous_filtered) * pid->diff_filter_factor; d = (error_filtered - pid->error_previous_filtered) / fmaxf(dt, 0.003f); // fail-safe for too low dt pid->error_previous_filtered = error_filtered; } else if (pid->mode == PID_MODE_DERIVATIV_SET) { |