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mtecs: BlockPDLimited: make sure dt > 0

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Thomas Gubler
2014-03-27 22:34:23 +01:00
parent d102afba8b
commit d3ca12f136
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+1 -1
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@@ -193,7 +193,7 @@ public:
virtual ~BlockPDLimited() {};
float update(float input) {
float difference = 0.0f;
float output = getKP() * input + getKD() * getDerivative().update(input);
float output = getKP() * input + (getDerivative().getDt() > 0.0f ? getKD() * getDerivative().update(input) : 0.0f);
getOutputLimiter().limit(output, difference);
return output;