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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-05-19 19:28:56 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-05-19 19:28:56 +0300 |
| commit | 5f6a459aab9a781dc143d8a6eb214408ead6906d (patch) | |
| tree | 1f1c53c59790f2f8d5602666e6926f0b500eba63 /Software/Embedded_SW/Embedded/Modules/Control | |
| parent | d3a01259a456926ec6a0b05ba897c89230149774 (diff) | |
| download | Tango-5f6a459aab9a781dc143d8a6eb214408ead6906d.tar.gz Tango-5f6a459aab9a781dc143d8a6eb214408ead6906d.zip | |
PID - fabs() enabled small integral values. empty waste indication.
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c index a443b4785..dd9841777 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c @@ -46,7 +46,7 @@ float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_ error = _setPoint - _mesuredParam; //In case of error too small then stop integration - if(abs(error) > params->epsilon) + if(fabs(error) > params->epsilon) { *_integral = *_integral + error*params->dt; } |