Prosper Van / PID

from greg

Fork of PID by Greg Abdo

Files at this revision

API Documentation at this revision

Revision 4:e3cc82bee208, committed 2013-07-29

Comitter:
oprospero
Date:
Mon Jul 29 19:58:42 2013 +0000
Parent:
3:8172f254dff4
Child:
5:43a44c2880a3
Commit message:
Added individual PID terms for ROLL PITCH and YAW

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PID.cpp	Wed Jul 03 02:40:06 2013 +0000
+++ b/PID.cpp	Mon Jul 29 19:58:42 2013 +0000
@@ -34,7 +34,7 @@
     currentError += targetPosition - currentPosition;
 
     // Sum of the errors the controller has incurred over time
-    integralError = currentError * dt;
+    integralError = currentError;
     // Cap the sum of errors to prevent excessive correction
     if (integralError < -windupGainGuard) {
         integralError = -windupGainGuard;