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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

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This commit is contained in:
James Goppert 2011-10-26 13:25:49 -04:00
commit 57e4a80fe1
1 changed files with 6 additions and 2 deletions
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8
libraries/APM_PI/APM_PI.cpp
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@ -11,8 +11,12 @@ long
APM_PI::get_pi(int32_t error, float dt)
{
_integrator += ((float)error * _ki) * dt;
_integrator = min(_integrator, (float)_imax);
_integrator = max(_integrator, (float)-_imax);
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
return (float)error * _kp + _integrator;
}