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Derivative calculation was wrong all along #40

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sb10q merged 1 commits from pid_hotfix into master 2020-12-29 17:09:04 +08:00
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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);