From 5f6a459aab9a781dc143d8a6eb214408ead6906d Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Sun, 19 May 2019 19:28:56 +0300 Subject: PID - fabs() enabled small integral values. empty waste indication. --- Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Control') 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; } -- cgit v1.3.1