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pid: move ki coefficient inside integration

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Astro 2020-10-11 01:56:22 +02:00
parent f12214a4df
commit 83a266852a
1 changed files with 4 additions and 4 deletions
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8
src/pid.rs
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@ -52,20 +52,20 @@ impl Controller {
// partial
let p = f64::from(self.parameters.kp) * error;
//integral
self.integral += error;
// integral
self.integral += f64::from(self.parameters.ki) * error;
if self.integral < self.parameters.integral_min.into() {
self.integral = self.parameters.integral_min.into();
}
if self.integral > self.parameters.integral_max.into() {
self.integral = self.parameters.integral_max.into();
}
let i = f64::from(self.parameters.ki) * f64::from(self.integral);
let i = self.integral;
// derivative
let d = match self.last_input {
None => 0.0,
Some(last_input) => f64::from(self.parameters.kd) * (last_input - input)
Some(last_input) => f64::from(self.parameters.kd) * (last_input - input),
};
self.last_input = Some(input);