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PID: fixed an uninitialised variable 

we did not initialise derivative to zero

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3082 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-08-13 04:46:21 +00:00
parent 92822dbd6b
commit 1dcd7a358e
1 changed files with 1 additions and 1 deletions
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2
libraries/PID/PID.cpp
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@ -18,7 +18,7 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
// Compute derivative component if time has elapsed
if ((fabs(_kd) > 0) && (dt > 0)) {
float derivative;
float derivative = 0;
// add in
_filter[_filter_index] = (error - _last_error) / delta_time;
_filter_index++;