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Fixed PID error for low pass filter.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1295 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-12-27 05:59:49 +00:00
parent c38d9d324e
commit 3a06c856b9
2 changed files with 3 additions and 2 deletions
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3
libraries/PID/PID.cpp
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@ -29,8 +29,9 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
float RC = 1/(2*M_PI*_fCut);
derivative = _last_derivative +
((delta_time / (_RC + delta_time)) * (derivative - _last_derivative));
(delta_time / (RC + delta_time)) * (derivative - _last_derivative);
// update state
_last_error = error;

2
libraries/PID/PID.h
View File

@ -133,7 +133,7 @@ private:
/// 20 Hz becasue anything over that is probably noise, see
/// http://en.wikipedia.org/wiki/Low-pass_filter.
///
static const uint8_t _RC = 20;
static const uint8_t _fCut = 20;
};
#endif