diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 8d41f3b9a..5fee72dc7 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -1338,22 +1338,22 @@ uint32_t UpdatePidDuringRun(HardwarePidControl *request) return ERROR; - if (request->derivativetime == true) + if (request->has_derivativetime == true) { MotorControlConfig[Motor_i].m_params.Kd = request->derivativetime; ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Kd",__FILE__,Motor_i,(int)(request->derivativetime),RpWarning,0,0); } - if (request->proportionalgain == true) + if (request->has_proportionalgain == true) { MotorControlConfig[Motor_i].m_params.Kp = request->proportionalgain; ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Kp",__FILE__,Motor_i,(int)(request->proportionalgain),RpWarning,0,0); } - if (request->integraltime == true) + if (request->has_integraltime == true) { MotorControlConfig[Motor_i].m_params.Ki = request->integraltime; ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Ki",__FILE__,Motor_i,(int)(request->integraltime),RpWarning,0,0); } - if (request->epsilon == true) + if (request->has_epsilon == true) { MotorControlConfig[Motor_i].m_params.epsilon = request->epsilon; ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun epsilon",__FILE__,Motor_i,(int)(request->epsilon*10000),RpWarning,0,0); |