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Fix #34: Broken PID derivate term calculation. Sign error fixed

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Mario Hüttel
2021-07-13 20:32:12 +02:00
parent f4fcaf1e3a
commit 41fbb83b46
1 changed files with 1 additions and 1 deletions
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stm-firmware/pid-controller.c
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@@ -85,7 +85,7 @@ float pid_sample(struct pid_controller *pid, float deviation)
} }
/* Calculate derivative part */ /* Calculate derivative part */
pid->derivate = pid->k_deriv_t * (deviation - pid->last_in) - pid->k_inv_deriv_t * pid->derivate; pid->derivate = pid->k_deriv_t * (deviation - pid->last_in) + pid->k_inv_deriv_t * pid->derivate;
output += pid->derivate; output += pid->derivate;
output += pid->integral; output += pid->integral;