diff options
| -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; |