diff options
Diffstat (limited to 'src/modules/systemlib/pid/pid.c')
| -rw-r--r-- | src/modules/systemlib/pid/pid.c | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 9308100b0..4996a8f66 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -124,7 +124,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float * @param dt * @return */ -__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt, float *ctrl_p, float *ctrl_i, float *ctrl_d) +__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt) { /* error = setpoint - actual_position integral = integral + (error*dt) @@ -196,10 +196,6 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo pid->last_output = output; } - *ctrl_p = (error * pid->kp); - *ctrl_i = (i * pid->ki); - *ctrl_d = (d * pid->kd); - return pid->last_output; } |