PID - fabs() enabled small integral values. empty waste indication.

1 files changed, 3 insertions, 3 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 4454565c1..265c751c6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -106,18 +106,18 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
 #ifdef TEST_LONGER_PID_THREAD
     MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control
 #endif
-    for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++)
+    for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++)
     {
         MotorSamples[Motor_i][i] = 0;  //reset the samples value for control beginning
         MotorSpeedSamples[Motor_i][i] = 0;
     }
     NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
-    temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
+    temp=(NORMAL_COEF_DIVIDER*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
     NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp;
 //    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
-    temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm*2);
+    temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm*3/2);
     DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     return OK;
 }