diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index a357b24e2..6e90a82ba 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -193,7 +193,7 @@ public: virtual ~BlockPDLimited() {}; float update(float input) { float difference = 0.0f; - float output = getKP() * input + getKD() * getDerivative().update(input); + float output = getKP() * input + (getDerivative().getDt() > 0.0f ? getKD() * getDerivative().update(input) : 0.0f); getOutputLimiter().limit(output, difference); return output; |