From b0fbe39459a03145947f81297c03b17b5b314199 Mon Sep 17 00:00:00 2001 From: "DrZiplok@gmail.com" Date: Fri, 26 Nov 2010 01:56:03 +0000 Subject: [PATCH] Remove spurious scaling git-svn-id: https://arducopter.googlecode.com/svn/trunk@934 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- libraries/PID/PID.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp index 9dd1d11e29..b64d3984cd 100644 --- a/libraries/PID/PID.cpp +++ b/libraries/PID/PID.cpp @@ -66,10 +66,10 @@ PID::load_gains() _kd = (float)(eeprom_read_word((uint16_t *) (_address + 4))) / 1000.0; _imax = eeprom_read_word((uint16_t *) (_address + 6)) * 100; } else { - _kp = _gain_array[0]/ 1000.0; - _ki = _gain_array[1]/ 1000.0; - _kd = _gain_array[2]/ 1000.0; - _imax = _gain_array[3]/ 1000.0; + _kp = _gain_array[0]; + _ki = _gain_array[1]; + _kd = _gain_array[2]; + _imax = _gain_array[3]; } } @@ -82,10 +82,10 @@ PID::save_gains() eeprom_write_word((uint16_t *) (_address + 4), (int)(_kd * 1000)); eeprom_write_word((uint16_t *) (_address + 6), (int)_imax/100); } else { - _gain_array[0] = _kp * 1000; - _gain_array[1] = _ki * 1000; - _gain_array[2] = _kd * 1000; - _gain_array[3] = _imax * 1000; + _gain_array[0] = _kp; + _gain_array[1] = _ki; + _gain_array[2] = _kd; + _gain_array[3] = _imax; } }