Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_PI AP_Var change

Browse Source 
using the If statement rather than Max to avoid potential AP_Var issues. I don't know if this is a real prob or not. Just being careful.
This commit is contained in:
Jason Short 2011-10-26 09:46:16 -07:00
parent d551494b94
commit 6fd7c1dcda
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/APM_PI/APM_PI.cpp
View File

@ -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;
}