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pid: fix derivative calculation

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Reviewed-on: #40
Co-Authored-By: topquark12 <aw@m-labs.hk>
Co-Committed-By: topquark12 <aw@m-labs.hk>
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topquark12 2020-12-29 17:09:03 +08:00 committed by sb10q
parent 8c9e12587f
commit e94601f54f
1 changed files with 1 additions and 1 deletions
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2
src/pid.rs
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@ -85,7 +85,7 @@ impl Controller {
None => None =>
0.0, 0.0,
Some(last_input) => Some(last_input) =>
f64::from(self.parameters.kd) * (input - last_input) / time_delta, f64::from(self.parameters.kd) * (last_input - input) / time_delta,
}; };
self.last_input = Some(input); self.last_input = Some(input);