aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2026-01-11 21:46:55 +00:00
Code Issues Packages Projects Releases Wiki Activity

Make dt=0 on first step, simplify code

Browse Source
This commit is contained in:
Oleg Kalachev
2023-05-31 20:07:38 +03:00
parent 4160b8da07
commit 9a93367629
6 changed files with 29 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
flix/pid.h
View File

@@ -20,20 +20,11 @@ public:
float update(float error, float dt)
{
if (!isfinite(error) || !isfinite(dt)) {
// TODO: brutal way to remove glitches
Serial.println("nan in error or dt");
return NAN;
}
if (dt > 0) {
// calculate integral if dt is valid
integral += error * dt;
if (isfinite(prevError)) {
// calculate derivative if both dt and prevError are valid
float _derivative = (error - prevError) / dt;
derivative = derivative * 0.8 + 0.2 * _derivative; // lpf WARNING:
}
integral += error * dt;
if (isfinite(prevError) && dt > 0) {
// calculate derivative if both dt and prevError are valid
float _derivative = (error - prevError) / dt;
derivative = derivative * 0.8 + 0.2 * _derivative; // lpf WARNING:
}
prevError = error;