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pid.c: fixed bad merge of seatbelt_multirotor, should fix EASY/AUTO modes

This commit is contained in:
Anton Babushkin 2013-09-01 14:12:48 +02:00
parent 2d83c6f825
commit f0a750714a
1 changed files with 8 additions and 6 deletions
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14
src/modules/systemlib/pid/pid.c
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@ -168,8 +168,8 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
fabsf(i) > pid->intmax) {
if ((pid->limit != 0.0f && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) ||
fabsf(i) > pid->intmax) {
i = pid->integral; // If saturated then do not update integral value
pid->saturated = 1;
@ -186,11 +186,13 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
if (isfinite(output)) {
if (output > pid->limit) {
output = pid->limit;
if (pid->limit != 0.0f) {
if (output > pid->limit) {
output = pid->limit;
} else if (output < -pid->limit) {
output = -pid->limit;
} else if (output < -pid->limit) {
output = -pid->limit;
}
}
pid->last_output = output;