diff options
Diffstat (limited to 'apps/systemlib')
| -rw-r--r-- | apps/systemlib/geo/geo.c | 9 | ||||
| -rw-r--r-- | apps/systemlib/pid/pid.c | 2 |
2 files changed, 7 insertions, 4 deletions
diff --git a/apps/systemlib/geo/geo.c b/apps/systemlib/geo/geo.c index 42d8d9c15..ce46d01cc 100644 --- a/apps/systemlib/geo/geo.c +++ b/apps/systemlib/geo/geo.c @@ -79,9 +79,12 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub /* conscious mix of double and float trig function to maximize speed and efficiency */ float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon)); - // XXX wrapping check is incomplete - if (theta < 0.0f) { - theta = theta + 2.0f * M_PI_F; + if (theta < M_PI_F) { + theta += 2.0f * M_PI_F; + } + + if (theta > M_PI_F) { + theta -= 2.0f * M_PI_F; } return theta; 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; |