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Critical bugfix in PID

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Anton Babushkin
2013-06-20 12:33:35 +04:00
parent dec1fdbde0
commit bf0de77532
1 changed files with 1 additions and 1 deletions
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src/modules/systemlib/pid/pid.c
+1 -1
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@@ -155,7 +155,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
pid->error_previous_filtered = error_filtered;
} else if (pid->mode == PID_MODE_DERIVATIV_CALC_NO_SP) {
error_filtered = pid->error_previous_filtered + (val - pid->error_previous_filtered) * pid->diff_filter_factor;
error_filtered = pid->error_previous_filtered + (- val - pid->error_previous_filtered) * pid->diff_filter_factor;
d = (error_filtered - pid->error_previous_filtered) / fmaxf(dt, 0.003f); // fail-safe for too low dt
pid->error_previous_filtered = error_filtered;
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {