From 7b78f366eda337e3388faa5ed066d88cad065e16 Mon Sep 17 00:00:00 2001 From: Avi Levkovich Date: Wed, 17 Jun 2020 16:56:13 +0300 Subject: update --- Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (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 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) { -- cgit v1.3.1