Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
Diff: DT1_Cntrl.cpp
- Revision:
- 8:3a8d1218022c
- Parent:
- 7:cb1492f4f2c6
- Child:
- 9:074f4f94b584
diff -r cb1492f4f2c6 -r 3a8d1218022c DT1_Cntrl.cpp --- a/DT1_Cntrl.cpp Wed Sep 18 09:56:35 2019 +0000 +++ b/DT1_Cntrl.cpp Thu Sep 19 08:51:03 2019 +0000 @@ -28,7 +28,7 @@ void DT1_Cntrl::setCoefficients(float D, float tau_f, float Ts) { - this->p = 1.0 - Ts/tau_f; + this->p = 1.0f - Ts/tau_f; this->tau_f = tau_f; this->D_ = D/tau_f; // modified D, now D is consistent with Matlab PID this->D__init = D/tau_f; // modified D, now D is consistent with Matlab PID @@ -44,6 +44,8 @@ float Dpart = D_*(e-eold)+p*yold; if(Dpart > uMax) Dpart = uMax; else if(Dpart < uMin) Dpart = uMin; + eold=e; + yold=Dpart; return Dpart; }