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Merge pull request #45 from thomasgubler/master_origin

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re-adding pid limitation & mavlink waypoint handling fix
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Lorenz Meier
2012-11-05 13:15:35 -08:00
parent 976545861a 59725ccd3a
commit 7d76a8a57b
2 changed files with 5 additions and 6 deletions
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apps/systemlib/pid/pid.c
+2 -2
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@@ -172,9 +172,9 @@ __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);
//if (output > pid->limit) output = pid->limit;
if (output > pid->limit) output = pid->limit;
//if (output < -pid->limit) output = -pid->limit;
if (output < -pid->limit) output = -pid->limit;
if (isfinite(output)) {
pid->last_output = output;