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PID - fix dTime usages fix #776

This commit is contained in:
rusefi 2019-04-25 21:36:41 -04:00
parent ea86d987c8
commit 0a1b8b068b
1 changed files with 2 additions and 1 deletions
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3
firmware/util/math/pid.h
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@ -37,11 +37,12 @@ public:
bool isSame(pid_s *pid); bool isSame(pid_s *pid);
/** /**
* This version of the methor takes dTime from pid_s
*
* @param Controller input / process output * @param Controller input / process output
* @returns Output from the PID controller / the input to the process * @returns Output from the PID controller / the input to the process
*/ */
float getOutput(float target, float input); float getOutput(float target, float input);
// todo: dTime should be taken from pid_s
virtual float getOutput(float target, float input, float dTime); virtual float getOutput(float target, float input, float dTime);
// doesn't limit the result (used in incremental CIC PID, see below) // doesn't limit the result (used in incremental CIC PID, see below)
float getUnclampedOutput(float target, float input, float dTime); float getUnclampedOutput(float target, float input, float dTime);