HAPSRG / PIDcontroller

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Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: PIDcontroller.cpp

Revision:
3:c99dfa48b606
Parent:
2:a05ba9d3be55
Child:
4:462dd38db926
--- a/PIDcontroller.cpp	Thu Aug 26 04:26:47 2021 +0000
+++ b/PIDcontroller.cpp	Thu Aug 26 04:28:32 2021 +0000
@@ -82,8 +82,8 @@
     if (!(prevControllerOutput_ >= 1 && Error_ > 0) && !(prevControllerOutput_ <= 0 && Error_ < 0)) {
         accError_ += (Error_ + prevError_) / 2.0 * tSample_; //偏差の積分値の計算
     }
-    if(accError_>  accErrorMax_){accError_=  accErrorMax_}
-    if(accError_< -accErrorMax_){accError_= -accErrorMax_}
+    if(accError_>  accErrorMax_){accError_=  accErrorMax_;}
+    if(accError_< -accErrorMax_){accError_= -accErrorMax_;}
     
     //偏差の微分値の計算(不完全微分が有効な場合,偏差の不完全微分値を計算)
     float diffError = usingIncompleteDifferential ? calcIncompleteDifferential() : (Error_ - prevError_) / tSample_;