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| author | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2020-06-17 19:05:10 +0300 |
|---|---|---|
| committer | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2020-06-17 19:05:10 +0300 |
| commit | 06b6fa90661475665cf9c02df9fea8c6a0f6a60d (patch) | |
| tree | 7ef076ca4285af9c05d15621a39502520c5e181d /Software/Embedded_SW/Embedded/Modules/Control | |
| parent | dd007b87b400427c02b57983ce3c1cce695bc960 (diff) | |
| parent | 1f2d5ff2707c5cf33274ef66a710eaaba596efff (diff) | |
| download | Tango-06b6fa90661475665cf9c02df9fea8c6a0f6a60d.tar.gz Tango-06b6fa90661475665cf9c02df9fea8c6a0f6a60d.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c index 3d1d353c2..eac1f605a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c @@ -5,7 +5,7 @@ float PIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_P { float error; float derivative; - float output; + float output = 0; //Calculate P,I,D error = _setPoint - _mesuredParam; @@ -19,7 +19,7 @@ float PIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_P derivative = (error - *_pre_error)/params->dt; output = params->Kp*error/params->ProportionalErrorMultiplier + params->Ki**_integral/params->IntegralErrorMultiplier + params->Kd*derivative; - + //} //Saturation Filter if(output > params->MAX) { |