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PID: Change from division to multiplication

This commit is contained in:
murata 2022-03-12 02:43:16 +09:00 committed by Andrew Tridgell
parent 82afaf70f6
commit 8f1369f065
1 changed files with 1 additions and 1 deletions
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2
libraries/PID/PID.cpp
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@ -52,7 +52,7 @@ float PID::get_pid(float error, float scaler)
} }
_last_t = tnow; _last_t = tnow;
delta_time = (float)dt / 1000.0f; delta_time = (float)dt * 0.001f;
// Compute proportional component // Compute proportional component
_pid_info.P = error * _kp; _pid_info.P = error * _kp;