diff options
Diffstat (limited to 'apps')
| -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 7e277cdc7..0358caa25 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -155,8 +155,8 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculate the error integral and check for saturation i = pid->integral + (error * dt); - if (fabs((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit || - fabs(i) > pid->intmax) { + if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit || + fabsf(i) > pid->intmax) { i = pid->integral; // If saturated then do not update integral value pid->saturated = 1; |