From 7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 29 Sep 2012 18:00:01 +0200 Subject: Fixed heading calculation, fixed heading controller --- apps/systemlib/pid/pid.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'apps/systemlib/pid/pid.c') 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; -- cgit v1.2.3