Bug in PID implementation #34

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mhu · 2021-07-13T20:28:49+02:00

mhu commented

2021-07-13 20:28:49 +02:00

The derivate calculation of the PID is wrong.

pid->derivate = pid->k_deriv_t * (deviation - pid->last_in) - pid->k_inv_deriv_t * pid->derivate;

should be

pid->derivate = pid->k_deriv_t * (deviation - pid->last_in) + pid->k_inv_deriv_t * pid->derivate;

The derivate calculation of the PID is wrong. ``pid->derivate = pid->k_deriv_t * (deviation - pid->last_in) - pid->k_inv_deriv_t * pid->derivate;`` should be ``pid->derivate = pid->k_deriv_t * (deviation - pid->last_in) + pid->k_inv_deriv_t * pid->derivate;``

mhu commented

2021-07-13 20:30:26 +02:00

All profiles have to be checked for functionality again!

mhu referenced this issue from a commit

2021-07-13 20:32:16 +02:00

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

mhu closed this issue

2021-07-13 20:32:16 +02:00

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