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Remove spurious scaling

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@934 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2010-11-26 01:56:03 +00:00
parent 342b759fea
commit b0fbe39459
1 changed files with 8 additions and 8 deletions
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16
libraries/PID/PID.cpp
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@ -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;
}
}