make PID controller mathemtaically correct

2020-05-25 01:56:54 +02:00
parent 355e81ba44
commit e659c6d097
3 changed files with 24 additions and 12 deletions
--- a/stm-firmware/main.c
+++ b/stm-firmware/main.c
@@ -221,7 +221,7 @@ int main()
 	shell_handle = shell_init(write_shell_callback);
 	shell_print_motd(shell_handle);

-	pid_init(&pid, 0.1, 0.1, 4.0, 0.0, 100.0, 40.0);
+	pid_init(&pid, 0.1, 0.1, 4.0, 0.0, 100.0, 40.0, 0.25);
 	pid_zero(&pid);

 	while (1) {