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| author | Roy Ben Shabat <Roy.mail.net@gmail.com> | 2020-06-22 01:38:35 +0300 |
|---|---|---|
| committer | Roy Ben Shabat <Roy.mail.net@gmail.com> | 2020-06-22 01:38:35 +0300 |
| commit | 69a5fa82c4633e1c9afa3e0164ff215a8d54c1ed (patch) | |
| tree | ac00f961f9921e5f07be90142fdfeeca0e9cea70 /Software/Embedded_SW/Embedded/Modules/Control | |
| parent | eb1ceefef381a36a752558af89acd1bafb51bc26 (diff) | |
| parent | 37672b35159b7a1ce7b669dc11edcf583b9f7840 (diff) | |
| download | Tango-69a5fa82c4633e1c9afa3e0164ff215a8d54c1ed.tar.gz Tango-69a5fa82c4633e1c9afa3e0164ff215a8d54c1ed.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) { |