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Code Issues Releases Activity

When pidctrl_daemon() is called multiple times within an interval, it

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should use the cumulative error to calculate the output.
This commit is contained in:
Alan Cox 2018-06-07 07:48:50 +00:00
parent fcabd54160
commit 5b274055d1
Notes: svn2git 2020-12-20 02:59:44 +00:00 
svn path=/head/; revision=334769
1 changed files with 1 additions and 1 deletions
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2
sys/kern/subr_pidctrl.c
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@ -146,7 +146,7 @@ pidctrl_daemon(struct pidctrl *pc, int input)
pc->pc_derivative = pc->pc_error - pc->pc_olderror;
/* Divide by inverse gain values to produce output. */
output = (error / Kpd) + (pc->pc_integral / Kid) +
output = (pc->pc_error / Kpd) + (pc->pc_integral / Kid) +
(pc->pc_derivative / Kdd);
output = MAX(output - pc->pc_output, 0);
/* Save for sysctl. */