diff options
Diffstat (limited to 'src/modules/systemlib/pid/pid.c')
| -rw-r--r-- | src/modules/systemlib/pid/pid.c | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index d0e67d3ea..0188a51c4 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -101,7 +101,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float } if (isfinite(diff_filter_factor)) { - pid->limit = diff_filter_factor; + pid->diff_filter_factor = diff_filter_factor; } else { ret = 1; @@ -179,8 +179,7 @@ __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); - + float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd); if (output > pid->limit) output = pid->limit; if (output < -pid->limit) output = -pid->limit; |