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| author | Avi Levkovich <avi@twine-s.com> | 2020-06-17 16:56:13 +0300 |
|---|---|---|
| committer | Avi Levkovich <avi@twine-s.com> | 2020-06-17 16:56:13 +0300 |
| commit | 7b78f366eda337e3388faa5ed066d88cad065e16 (patch) | |
| tree | 408818b4d43016efc757ad5cbaeabc3920438957 /Software/Embedded_SW/Embedded/Modules/Control | |
| parent | 03c479e2126007f539c2f569fa43c07cc6a6808d (diff) | |
| download | Tango-7b78f366eda337e3388faa5ed066d88cad065e16.tar.gz Tango-7b78f366eda337e3388faa5ed066d88cad065e16.zip | |
update
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) { |